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Sensors 2016, 16(8), 1268; doi:10.3390/s16081268

Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area

Department of Electronic Engineering, Konkuk University, 120 Neungdong-ro, Gwangjin-gu, Seoul 05029, Korea
Satellite Navigation Team, Korea Aerospace Research Institute, 169-84 Gwahak-ro, Yuseong-gu, Daejeon 305-806, Korea
Author to whom correspondence should be addressed.
Academic Editor: Felipe Jimenez
Received: 31 March 2016 / Revised: 2 August 2016 / Accepted: 4 August 2016 / Published: 10 August 2016
(This article belongs to the Special Issue Sensors for Autonomous Road Vehicles)


Tall buildings are concentrated in urban areas. The outer walls of buildings are vertically erected to the ground and almost flat. Therefore, the vertical corners that meet the vertical planes are present everywhere in urban areas. These corners act as convenient landmarks, which can be extracted by using the light detection and ranging (LIDAR) sensor. A vertical corner feature based precise vehicle localization method is proposed in this paper and implemented using 3D LIDAR (Velodyne HDL-32E). The vehicle motion is predicted by accumulating the pose increment output from the iterative closest point (ICP) algorithm based on the geometric relations between the scan data of the 3D LIDAR. The vertical corner is extracted using the proposed corner extraction method. The vehicle position is then corrected by matching the prebuilt corner map with the extracted corner. The experiment was carried out in the Gangnam area of Seoul, South Korea. In the experimental results, the maximum horizontal position error is about 0.46 m and the 2D Root Mean Square (RMS) horizontal error is about 0.138 m. View Full-Text
Keywords: precise vehicle localization; vertical corner feature; urban area; corner map; 3D LIDAR precise vehicle localization; vertical corner feature; urban area; corner map; 3D LIDAR

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Im, J.-H.; Im, S.-H.; Jee, G.-I. Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area. Sensors 2016, 16, 1268.

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