Fast LIDAR localization using multiresolution Gaussian mixture maps

  title={Fast LIDAR localization using multiresolution Gaussian mixture maps},
  author={Ryan W. Wolcott and Ryan M. Eustice},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
This paper reports on a fast multiresolution scan matcher for vehicle localization in urban environments for self-driving cars. State-of-the-art approaches to vehicle localization rely on observing road surface reflectivity with a three-dimensional (3D) light detection and ranging (LIDAR) scanner to achieve centimeter-level accuracy. However, these approaches can often fail when faced with adverse weather conditions that obscure the view of the road paint (e.g., puddles and snowdrifts) or poor… CONTINUE READING
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