Section: New Results

On line Mapping and Global Positioning technique based on evidential SLAM

Participants : Guillaume Trehard, Evangeline Pollard, Fawzi Nashashibi.

Locate a vehicle in an urban environment remains a challenge for the autonomous driving community. By fusing information from a LIDAR, a Global Navigation by Satellite System (GNSS) and the vehicle odometry, we introduced and developed an original solution based on evidential grids and a particle filter to map the static environment and simultaneously estimate the position in a global reference at a high rate and without any prior knowledge (see [39] ).