Comparison of Odometry Techniques for Vehicle Navigation

Localization technique is a key technology for vehicular navigation and control. The use of satellite navigation is deemed essential. Yet, satellite-based navigation system is subject to multipath effect and signal blockages in urban area. To enhance the overall navigation capability, odometry techniques have been used as dead-reckoning devices to augment satellite navigation. To account the issues of sensor selection and sensor fault detection in an integrated vehicle navigation, the paper compares three odometry techniques based on monocular camera, laser scanner, and inertial sensor, respectively. The assessment is based on real data at a representative scenario.