Uncertainty estimation of LiDAR matching aided by dynamic vehicle detection and high definition map

LiDAR matching between real-time point clouds and pre-built points map is a popular approach to provide accurate localisation service for autonomous vehicles. However, the performance is severely deteriorated in dense traffic scenes. Unavoidably, dynamic vehicles introduce additional uncertainty to the matching result. The main cause is that the pre-built map can be blocked by the surrounding dynamic vehicles from the view of LiDAR of ego vehicle. A novel uncertainty of LiDAR matching (ULM) estimation method aided by the dynamic vehicle (DV) detection and high definition map is proposed in this Letter. Compared to the conventional Hessian matrix-based ULM estimation approach, the proposed method innovatively estimates the ULM by modelling surrounding DV. Then the authors propose to correlate the ULM with the detected DV and convergence feature of matching algorithm. From the evaluated real-data in an intersection area with dense traffic, the proposed method has exhibited the feasibility of estimating the ULM accurately.