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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
Fulltext / DOI:
doi:10.1051/e3sconf/20199504002
Publisher:
EDP Sciences
E-ISSN:
2267-1242
Date of publication:
01.01.2019
TUM Institution:
Lehrstuhl für Fahrzeugtechnik
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