Precise ego-localization in urban areas using Laserscanner and high accuracy feature maps

Robust ego-localization is an essential technology for future intelligent vehicles and cooperative applications. In this paper a new localization algorithm based on IBEO AS Laserscanners and high accuracy digital maps is proposed. Algorithms to create accurate grid maps with Laserscanners and the extraction of static objects used as landmarks for ego-localization is introduced. The key problem in landmark navigation in urban areas is the localization of landmarks in distance profiles of a Laserscanner. A fast algorithm is presented, that associates landmarks with data of a Laserscanner which is robust against large rotational, and translational position errors. A position correction algorithm determines the vehicles ego position in WGS-84 coordinates also often used by GPS and navigation maps.