Laser-Based Localization and Terrain Mapping for Driver Assistance in a City Bus

  • Michał R. NowickiEmail author
  • Tomasz Nowak
  • Piotr Skrzypczyński
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 920)


High costs of labor and personnel training in public transport lead to increased interest in the advanced driver assistance systems for city buses. As buses have to execute precise maneuvers when parking in a limited and cluttered environment, they need accurate localization and reliable terrain perception. We present preliminary results of a project aimed at equipping an electric city bus with localization and terrain mapping capabilities. The approach is based on 3-D laser scanners mounted on the bus. Our system provides the bus pose estimate and elevation map to the motion planning algorithm that in turn provides the human driver with steering suggestions through a human-machine interface.


ADAS Bus Laser scanner Localization Elevation map 



This work was funded by the National Centre for Research and Development grant POIR.04.01.02-00-0081/17.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Michał R. Nowicki
    • 1
    Email author
  • Tomasz Nowak
    • 1
  • Piotr Skrzypczyński
    • 1
  1. 1.Institute of Control, Robotics, and Information EngineeringPoznań University of TechnologyPoznańPoland

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