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A Low-Cost Consistent Vehicle Localization Based on Interval Constraint Propagation
Joint Authors
Source
Journal of Advanced Transportation
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-24
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Probabilistic techniques (such as Extended Kalman Filter and Particle Filter) have long been used to solve robotic localization and mapping problem.
Despite their good performance in practical applications, they could suffer inconsistency problems.
This paper proposes an interval analysis based method to estimate the vehicle pose (position and orientation) in a consistent way, by fusing low-cost sensors and map data.
We cast the localization problem into an Interval Constraint Satisfaction Problem (ICSP), solved via Interval Constraint Propagation (ICP) techniques.
An interval map is built when a vehicle embedding expensive sensors navigates around the environment.
Then vehicles with low-cost sensors (dead reckoning and monocular camera) can use this map for ego-localization.
Experimental results show the soundness of the proposed method in achieving consistent localization.
American Psychological Association (APA)
Wang, Zhan& Lambert, Alain. 2018. A Low-Cost Consistent Vehicle Localization Based on Interval Constraint Propagation. Journal of Advanced Transportation،Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1181083
Modern Language Association (MLA)
Wang, Zhan& Lambert, Alain. A Low-Cost Consistent Vehicle Localization Based on Interval Constraint Propagation. Journal of Advanced Transportation No. 2018 (2018), pp.1-15.
https://search.emarefa.net/detail/BIM-1181083
American Medical Association (AMA)
Wang, Zhan& Lambert, Alain. A Low-Cost Consistent Vehicle Localization Based on Interval Constraint Propagation. Journal of Advanced Transportation. 2018. Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1181083
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1181083