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Self-Modification of Parking Position Based on Simultaneously Generated Map

LokeEng Koay, Kazuya Okawa, Hideo Kato, Shizuichi Higuchi


This paper presents a self-modification of the parking position based on simultaneously generated map by using Laser Range Finder(LRF) for an auto-parking system. Map is generated by using Iterative Closest Point(ICP) algorithm to find the corresponding points, by matching those points, can gain the Simultaneous Localization and Mapping(SLAM) of car model. The process of finding the corresponding points during auto-parking is influenced by changes of obstacles appearance which causes miss-matching within ICP algorithm. This paper proposed appropriate interval SLAM with ICP algorithm to prevent the miss-matching of ICP algorithm.

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