Abstract
This paper describes our study of localization for autonomous vehicles based on a particle filter with road feature maps and lidar sensor inputs. We propose this system for vehicle localization in tunnels and underground roads when satellite signals from the US GPS, the Russian GLONASS, and the Japanese QZSS are not available. We studied sensor-based localization methods for autonomous vehicles using radar, lidar, and cameras. In this paper, we describe a localization method using a particle filter that correlates a high-resolution map with a local map constructed by 3D lidar and vehicle odometry. We validate the developed method with a real-time computing environment using actual measurements obtained from public road experiments.
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