MHE based vehicle localization integrating scan-matching and odometry in unknown structured environment

Abstract

In our previous study, we proposed a localization method based on moving horizon estimation (MHE) for known environments. However, in the method the environment map is required for achieving the localization. So in this study, to achieve the localization in unknown environments, we propose a localization method integrating scan-matching and odometry based on MHE; the vehicle pose is estimated by minimizing both errors of scan-matching and odometry, simultaneously. The localization is achieved even in the environment that the pose cannot be localized uniquely by only the scan-matching method since the information for the estimation is complemented by the odometry. We verify the effectiveness of the proposed method through the off-line localizations using the experimental data. The superiority of the proposed method is shown in a comparison with an extended Kalman filter based method.