Localization

GPS-denied localization for autonomous driving

  • 12-week summer internship (2018) in autonomous driving with American HAVAL Motor Technology (AHMT)
  • Integrated GPS, LiDAR, IMU, and ultra-wideband (UWB) sensors
  • Wrote drivers to read the UWB sensor in the Apollo autonomous driving software framework
  • Developed a localization algorithm in ROS using an EKF that fused GPS, IMU, and UWB data for GPS-denied environments
  • Code: https://github.com/jonhoff14/uwb_localization
  • Manager: Dr. Vladimir Djapic