Moderation Team
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
Demo:
Video explanation: