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Document type:
Zeitschriftenaufsatz 
Author(s):
Stahl, Tim; Wischnewski, Alexander; Betz, Johannes; Lienkamp, Markus 
Title:
ROS-based localization of a race vehicle at high-speed using LIDAR 
Abstract:
An approach for LIDAR-based localization at high speeds is presented. In the proposed framework, the laser pose estimation is treated as a parallel redundant information, which is fused in an adjacent Kalman filter. The measurement and motion update step of the ROS-based adaptive Monte Carlo localization package is modified, in order to meet the requirements of a high-speed race scenario. Thereby, the key focus is on computational efficiency and the adaptation to characteristics arising at high...    »
 
Keywords:
FTM Fahrdynamik 
Journal title:
E3S Web of Conferences 
Year:
2019 
Journal volume:
95 
Pages contribution:
04002 
Covered by:
Scopus 
Language:
en 
Publisher:
EDP Sciences 
E-ISSN:
2267-1242 
Date of publication:
01.01.2019 
TUM Institution:
Lehrstuhl für Fahrzeugtechnik