A Simultaneous Localization and Mapping Algorithm Based on Kalman Filtering

Chou, H.,Traonmilin, M.,Ollivier, E.,Parent, M.

semanticscholar（2004）

引用 14|浏览4

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摘要

For automatic navigation of autonomous vehicles, localization in real time is a key issue. In this article, a simultaneous localization and mapping algorithm is proposed for an autonomous vehicle. We use a laser detection and ranging sensor to detect the operating environment. An environment map is plot out using the sensor output data. Then, with an odometer, the vehicle position is located on this map. Finally, these two sensor outputs are merged using a Kalman filter to correct the map as well as the vehicle position.

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关键词

Kalman filters,data acquisition,distance measurement,filtering theory,laser ranging,mobile robots,navigation,optical sensors,road vehicles,Kalman filtering,automatic navigation,autonomous vehicles,laser detection,mapping algorithm,odometer,operating environment,ranging sensor,sensor output data,simultaneous localization,vehicle position

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