Autonomous Vehicle Mapping and Localization in Carla

DOI

10.2991/978-94-6463-738-0_70How to use a DOI?

Keywords

CARLA; RTAB-Map; ROS2; Simulation; Simultaneous Localization and Mapping

Abstract

This paper introduces an advanced autonomous navigation system utilizing RTAB-Map for simultaneous mapping and localization in the CARLA simulation environment, integrated with ROS2 for efficient data processing. Designed to enable the ego vehicle to autonomously explore and map its surroundings, the system employs Visual SLAM techniques based on stereo RGB and depth data to create detailed 3D maps while continuously tracking the vehicle’s location. This dual capability is critical for effective path planning and environmental awareness, allowing the vehicle to adapt its navigation path based on real-time changes in its mapped surroundings. Key to the system’s robustness is RTAB-Map’s loop closure detection, which significantly enhances mapping accuracy by minimizing localization drift over time, ensuring reliable navigation in larger, complex environments. Additionally, the ROS2 framework facilitates smooth data transfer and synchronization between sensors and RTAB-Map, optimizing real-time performance in dynamic, simulated scenarios. With a modular architecture and scalable components, this project lays the groundwork for future developments in autonomous navigation and SLAM research. By demonstrating the effectiveness of high-fidelity mapping combined with real-time localization, this provides valuable insights into the development of autonomous driving solutions, with applications that can be extended into the real-world.

Copyright

© 2025 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - H. Pranav Raj
AU  - Jonathan Sivakumar
AU  - B. Uma Maheswari
PY  - 2025
DA  - 2025/06/22
TI  - Autonomous Vehicle Mapping and Localization in Carla
BT  - Proceedings of the International Conference on Advances and Applications in Artificial Intelligence (ICAAAI 2025)
PB  - Atlantis Press
SP  - 905
EP  - 913
SN  - 1951-6851
UR  - https://doi.org/10.2991/978-94-6463-738-0_70
DO  - 10.2991/978-94-6463-738-0_70
ID  - Raj2025
ER  -