Particle filters for positioning, navigation, and tracking
IEEE Transactions on Signal Processing
In-car positioning and navigation technologies: a survey
IEEE Transactions on Intelligent Transportation Systems
Navigation using environmental constraints
CCNC'09 Proceedings of the 6th IEEE Conference on Consumer Communications and Networking Conference
On the use of 2D navigable maps for enhancing ground vehicle localization
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Generation of an adaptive simulation driven by product trajectories
Journal of Intelligent Manufacturing
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This paper presents a loosely coupled fusion approach that merges GPS data, dead-reckoned sensors, and GIS (geographical information system) data. The GPS latency is compensated for by the DR sensors and the use of an xPPS signal. The fusion of the estimate with the map data is spatial-triggered, while the fusion with the GPS is time-triggered. We present a strategy that relies on pose tracking which is reinitialized when GPS data become incoherent. Particular attention is given to the representation of the road map and to the management of a cache memory for efficiency purposes. We report experiments carried out with our equipped car and a GIS whose characteristics are well adapted to embedded constraints.