Research Article
LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic
@INPROCEEDINGS{10.1007/978-3-030-38822-5_19, author={Franz Andert and Henning Mosebach}, title={LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic}, proceedings={Intelligent Transport Systems. From Research and Development to the Market Uptake. Third EAI International Conference, INTSYS 2019, Braga, Portugal, December 4--6, 2019}, proceedings_a={INTSYS}, year={2020}, month={1}, keywords={GPS-free navigation SLAM LiDAR data processing}, doi={10.1007/978-3-030-38822-5_19} }- Franz Andert
Henning Mosebach
Year: 2020
LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic
INTSYS
Springer
DOI: 10.1007/978-3-030-38822-5_19
Abstract
This paper addresses the positioning quality of Simultaneous Localization And Mapping (SLAM) based on Light Detection and Ranging (LiDAR) sensors within urban road traffic. Based on the assumption of functional capability of existing SLAM implementations, the paper evaluates specific details of urban car drives that arise when SLAM is to be used for automatic car control. In the presented case, LiDAR-based positioning is done with the Google Cartographer software which generates real-time updates that are compared to GNSS reference. The evaluation is done by using own Light Detection And Ranging (LiDAR) sensor recordings from urban driving. Next to the overall GNSS-free path estimation, the paper zooms into some typical situations (e.g. waiting at busy intersection, driving curves) where SLAM might be inaccurate.