Natural landmark-based autonomous vehicle navigation

  title={Natural landmark-based autonomous vehicle navigation},
  author={Raj Madhavan and Hugh F. Durrant-Whyte},
  journal={Robotics and Autonomous Systems},
This article describes a natural landmark navigation algorithm for autonomous vehicles operating in relatively unstructured environments. The algorithm employs points of maximum curvature, extracted from laser scan data, as point landmarks in an extended Kalman filter. A curvature scale space algorithm is developed to locate points of maximum curvature. The location of these points is invariant to view-point and sensor resolution. They can therefore be used as stable and reliable landmarks in a… CONTINUE READING
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