Abstract
Self-localization is important technique for autonomous driving. In our laboratory, we are developing an autonomous vehicle, and we implemented two-dimensional self-localization algorithm using LIDAR and orthophotos for the vehicle. Therefore, there is a problem that the method cannot identify the layer when the vehicle is traveling in multi-layer structure road. In this work, we extend the method and suggest selflocalization technique in three-dimensional space based on elevation map. We carried out practical experiments in urban road, and the results showed that our proposed method can be used for estimating the traveling layer in multi-layer structure road.
