Backing up GPS in Urban Areas using a Scanning Laser

Maged Jabbour and Philippe Bonnifait

Abstract:	This paper studies the use of lidar for the egolocalization of car-like vehicles in conjunction with GPS. We consider a laser scanner installed at the front of a vehicle that detects both sides of the road. We present a method that fuses the lidar information to improve the localization process by providing additional exteroceptive information and by rejecting bad GPS fixes. The strategy is inspired by a SLAM paradigm and is efficient if the vehicle navigates often in the same area. We present the different main stages of such a strategy: lidar data processing, map data representation, and augmented Kalman filtering scheme. Finally, experimental results are reported to illustrate the performance of this approach.
Published in:	Proceedings of IEEE/ION PLANS 2008 May 6 - 8, 2008 Hyatt Regency Hotel Monterey, CA
Pages:	505 - 510
Cite this article:	Jabbour, Maged, Bonnifait, Philippe, "Backing up GPS in Urban Areas using a Scanning Laser," Proceedings of IEEE/ION PLANS 2008, Monterey, CA, May 2008, pp. 505-510. https://doi.org/10.1109/PLANS.2008.4570058
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