Landmark Pair based Localization for Intelligent Vehicles using Laser Radar

Localization, namely pose estimation is of great importance in the research of intelligent vehicles. In this paper, after a simple overview of existing methods, a method of laser radar localization based on landmark pairs (L³P) is presented, which is an improved algorithm of localization based on landmarks to overcome problems of traditional methods, such as low reliability and low robustness of landmark detection, etc. This algorithm has been verified on both synthetic data and real range data in the outdoor environment. Experimental results demonstrate its high accuracy, high robustness to noises and low computation.