A 3D Vehicle Localization Technique in Complex Terrains

Abstract

This paper describes a high-precision, scanmatching- based approach to tracking the pose of mobile vehicle, in which 3D information is added to the MCL algorithm for the first time. The approach is outstanding in terms of accuracy and computation time, which is achieved by improvements of ICP and MCL algorithm. The implemented approach is evaluated with a serious of experiments, and experimental results show that the novel approach makes up the disadvantages of traditional vehicle localization techniques in low efficiency and lack of 3D information. The 3D localization technique is available for both indoor and outdoor environment especially for complex terrains.