Smooth localization independent of GPS using coarse height maps

This paper presents a new map-based localization approach for autonomous ground vehicle. To build a highly precise map, state-of-the-art methods usually explore the SLAM strategy with the assumption that it must involve loop closure. However, this assumption cannot be met in many real world scenarios. In this work we propose a novel algorithm to generate a coarse height map with the imprecise GPS pose. The vehicle position is estimated by registering feature points from the prior map with the ones in the current scans. We validate the effectiveness of our algorithm by localizing our vehicle in urban environment. Results show the method does not require GPS and can overcome the weakness of sudden jumping of GPS position and finally achieve real-time decimeter-level localization.