Abstract
This paper presents a hierarchical hybrid mapping model for environment representation for the estimation of vehicle pose and environment feature. The environment map converted from the point cloud data gotten by LIDAR is represented with a cylindrical logarithmic polar grid, which considerably improves the efficiency and accuracy of environmental feature detection. To lower the search scope of data association and reduce the dimension of state estimation, we adopt a topology map in the top level. The autonomous ground vehicle experimental results shows that the proposed method has better performance.
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