Horizontal/vertical LRFs and GIS maps aided vehicle localization in urban environment

A vehicle localization method is proposed in this paper using two horizontal/vertical laser range finders (LRF) and a geographical information system (GIS). When GPS signals are blocked in some urban areas, e.g. urban canyons, the vehicle motion information can be provided by several dead-reckoning sensors, and corrected by local observations from onboard… CONTINUE READING