Publications / 2002 Proceedings of the 19th ISARC, Washington, USA

Terrain Aided Localization of Autonomous Vehicles

R. Madhavan
Pages 511-518 (2002 Proceedings of the 19th ISARC, Washington, USA, ISSN 2413-5844)

This paper describes the development of a terrain-aided localization framework for autonomous land vehicles operating at high speeds in unstructured, expansive and harsh environments. The localization framework developed is sufficiently generic to be used on a variety of other autonomous land vehicles and is demonstrated by its implementation using field data collected from two different trials on two different vehicles. The results demonstrate the robustness of the proposed localization algorithms in producing reliable and accurate position estimates for autonomous vehicles operating in a variety of unstructured domains.

Keywords: Outdoor Localization, Map Building, Iterative Closest Point, Extended Kalman Filter, Entropy, Scale Space