18. 市街地における自動運転へのSLAMの活用

抄録

Simultaneous Localization and Mapping (SLAM) is a critical technology used in robotics that involves the real-time construction or updating of an environment map while simultaneously determining the precise position and orientation of the robot within that map using Lidar, cameras. Autonomous Driving systems require accurate ego-vehicle localization capabilities to navigate complex scenarios safely. For that reason, autonomous driving systems often utilize technologies based on SLAM. This article introduces a SLAM solution implemented in the well-known open-source software “Autoware” and an advanced camera-based localization approach, as well as the current challenges and possible solutions when processing in outdoor environments.