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LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic

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Intelligent Transport Systems. From Research and Development to the Market Uptake (INTSYS 2019)

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Abstract

This paper addresses the positioning quality of Simultaneous Localization And Mapping (SLAM) based on Light Detection and Ranging (LiDAR) sensors within urban road traffic. Based on the assumption of functional capability of existing SLAM implementations, the paper evaluates specific details of urban car drives that arise when SLAM is to be used for automatic car control. In the presented case, LiDAR-based positioning is done with the Google Cartographer software which generates real-time updates that are compared to GNSS reference. The evaluation is done by using own Light Detection And Ranging (LiDAR) sensor recordings from urban driving. Next to the overall GNSS-free path estimation, the paper zooms into some typical situations (e.g. waiting at busy intersection, driving curves) where SLAM might be inaccurate.

Parts of this work have been supported by the German Federal Ministry of Transport and Digital Infrastructure (BMVI) within the project Cooperative Mobility in the Digital Test Area Düsseldorf (KoMo:D), Grant Agreement No. 16AVF1006H.

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Authors and Affiliations

  1. German Aerospace Center (DLR), Institute of Transportation Systems, Berlin, Germany

    Franz Andert & Henning Mosebach

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  1. Franz Andert
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  2. Henning Mosebach
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Correspondence to Franz Andert .

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Editors and Affiliations

  1. ISCTE-IUL, Lisbon, Portugal

    Ana Lúcia Martins

  2. ISCTE-IUL, Lisbon, Portugal

    Joao Carlos Ferreira

  3. University of Pisa, Pisa, Italy

    Alexander Kocian

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© 2020 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Andert, F., Mosebach, H. (2020). LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic. In: Martins, A., Ferreira, J., Kocian, A. (eds) Intelligent Transport Systems. From Research and Development to the Market Uptake. INTSYS 2019. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 310. Springer, Cham. https://doi.org/10.1007/978-3-030-38822-5_19

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  • DOI: https://doi.org/10.1007/978-3-030-38822-5_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-38821-8

  • Online ISBN: 978-3-030-38822-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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