Particle filter

A method of particle filter localization for autonomous vehicles is based on two-dimensional (2D) laser sensor measurements and road features. To navigate an urban environment, an autonomous vehicle should be able to estimate its location with a reasonable accuracy.

By detecting road features such as curbs and road markings, a grid-based feature map is constructed using 2D laser range finder measurements. Then, a particle filter is employed to accurately estimate the position of the autonomous vehicle.

Extra reading:

Particle Filtering Part 1: Beyond Groping in The Dark for Robots




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