TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Schuster, Frank
A1  - Keller, Christoph
A1  - Rapp, Matthias
A1  - Haueis, Martin
A1  - Curio, Cristóbal
T1  - Landmark based radar SLAM using graph optimization
T2  - IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Windsor Oceanico Hotel, Rio de Janeiro, Brazil, November 1-4, 2016
N2  - On the way to achieving higher degrees of autonomy for vehicles in complicated, ever changing scenarios, the localization problem poses a very important role. Especially the Simultaneous Localization and Mapping (SLAM) problem has been studied greatly in the past. For an autonomous system in the real world, we present a very cost-efficient, robust and very precise localization approach based on GraphSLAM and graph optimization using radar sensors. We are able to prove on a dynamically changing parking lot layout that both mapping and localization accuracy are very high. To evaluate the performance of the mapping algorithm, a highly accurate ground truth map generated from a total station was used. Localization results are compared to a high precision DGPS/INS system. Utilizing these methods, we can show the strong performance of our algorithm.
Y1  - 2016
SN  - 978-1-5090-1889-5
SB  - 978-1-5090-1889-5
U6  - https://doi.org/10.1109/ITSC.2016.7795967
DO  - https://doi.org/10.1109/ITSC.2016.7795967
SP  - 2559
EP  - 2564
S1  - 6
PB  - IEEE
CY  - Piscataway, NJ
ER  -