Odometric navigation with matching of landscape features

This paper presents a technique to localize and guide outdoors vehicles by both vehicle odometry and landmark localization. In this case, we use reflective poles spaced out about 50 m apart and located at the front of the vehicle. The LADAR detects distances, angles, speed, and the position of obstacles within 20 m. Odometry is performed by a steering sensor and encoder attached at the vehicle differential. Using this information, the embedded system matches the vehicle´s computed position with the location of the poles. Finally, passenger safety is ensured by an anti-collision subsystem thanks to the LADAR sensor.