DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cho, Younghun | ko |
dc.contributor.author | Kim, Giseop | ko |
dc.contributor.author | Lee, Sangmin | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.date.accessioned | 2022-04-13T06:47:33Z | - |
dc.date.available | 2022-04-13T06:47:33Z | - |
dc.date.created | 2022-04-04 | - |
dc.date.created | 2022-04-04 | - |
dc.date.created | 2022-04-04 | - |
dc.date.created | 2022-04-04 | - |
dc.date.issued | 2022-04 | - |
dc.identifier.citation | IEEE ROBOTICS AND AUTOMATION LETTERS, v.7, no.2, pp.4999 - 5006 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10203/292556 | - |
dc.description.abstract | Using publicly accessible maps, we propose a novel vehicle localization method that can be applied without using prior light detection and ranging (LiDAR) maps. Our method generates OSM descriptors by calculating the distances to buildings from a location in OpenStreetMap at a regular angle, and LiDAR descriptors by calculating the shortest distances to building points from the current location at a regular angle. Comparing the OSM descriptors and LiDAR descriptors yields a highly accurate vehicle localization result. Compared to methods that use prior LiDAR maps, our method presents two main advantages: (1) vehicle localization is not limited to only places with previously acquired LiDAR maps, and (2) our method is comparable to LiDAR map-based methods, and especially outperforms the other methods with respect to the top one candidate at KITTI dataset sequence 00. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | OpenStreetMap-Based LiDAR Global Localization in Urban Environment Without a Prior LiDAR Map | - |
dc.type | Article | - |
dc.identifier.wosid | 000766627200017 | - |
dc.identifier.scopusid | 2-s2.0-85125298811 | - |
dc.type.rims | ART | - |
dc.citation.volume | 7 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 4999 | - |
dc.citation.endingpage | 5006 | - |
dc.citation.publicationname | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.identifier.doi | 10.1109/LRA.2022.3152476 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Kim, Giseop | - |
dc.contributor.nonIdAuthor | Lee, Sangmin | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Localization | - |
dc.subject.keywordAuthor | range sensing | - |
dc.subject.keywordAuthor | mapping | - |
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