A kind of urban environment patterning process for unmanned vehicle

The invention discloses a kind of urban environment patterning process for unmanned vehicle, independent of external alignment sensors such as odometer, GPS and inertial navigations, unmanned vehicle track following and environmental map structure are completed with less particle only with the 3D laser point cloud datas that mobile lidar returns, the autonomous traveling for being Unmanned Ground Vehicle under circumstances not known provides foundation；The present invention has obtained the rough estimate of the true pose of vehicle to adjacent two frame data application ICP algorithm, is then spread a little according to Gaussian Profile near this rough estimate.Although the rough estimate is not the true pose of unmanned vehicle, it is the high probability region of the true pose of unmanned vehicle, subsequently spreading point process accurate positioning and composition are just realized with a small amount of particle, avoid conventional method and use a large amount of particles fitting track of vehicle, the efficiency of algorithm is improved, and is effectively inhibited because particle estimates the bad particle degeneracy phenomenon brought.