Article ; Online: Graph-Based Cooperative Localization Using Symmetric Measurement Equations.
2017 Volume 17, Issue 6
Abstract: ... symmetric measurement equations within factor graphs in order to overcome the data association challenge ... Cooperative localization (CL) presents itself as a feasible and effective solution for localizing the ego ... Precise localization is a key requirement for the success of highly assisted or autonomous vehicles ...
| Abstract | Precise localization is a key requirement for the success of highly assisted or autonomous vehicles. The diminishing cost of hardware has resulted in a proliferation of the number of sensors in the environment. Cooperative localization (CL) presents itself as a feasible and effective solution for localizing the ego-vehicle and its neighboring vehicles. However, one of the major challenges to fully realize the effective use of infrastructure sensors for jointly estimating the state of a vehicle in cooperative vehicle-infrastructure localization is an effective data association. In this paper, we propose a method which implements symmetric measurement equations within factor graphs in order to overcome the data association challenge with a reduced bandwidth overhead. Simulated results demonstrate the benefits of the proposed approach in comparison with our previously proposed approach of topology factors. |
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| Language | English |
| Publishing date | 2017-06-17 |
| Publishing country | Switzerland |
| Document type | Journal Article |
| ZDB-ID | 2052857-7 |
| ISSN | 1424-8220 ; 1424-8220 |
| ISSN (online) | 1424-8220 |
| ISSN | 1424-8220 |
| DOI | 10.3390/s17061422 |
| Database | MEDical Literature Analysis and Retrieval System OnLINE |
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