Vehicle localization based on Interval Constraint Propagation algorithms

Author

Kueviakoe, Kangni ; Lambert, Andrew ; Tarroux, P.

Author_Institution

LIMSI, Univ. Paris Sud, Orsay, France

fYear

2013

fDate

26-29 May 2013

Firstpage

179

Lastpage

184

Abstract

Vehicle localization can be stated as a Constraint Satisfaction Problem (CSP). Interval Constraint Propagation (ICP) algorithms allow us to solve CSPs. This paper discusses the performance of some ICP algorithms applied to vehicle localization. Each of them is fed with the same data obtained with our experimental vehicle equipped with odometers, a gyro and a GPS receiver. Results present the efficiency of these algorithms in terms of heading and positioning accuracy. It is shown that local consistency algorithms do not correct the heading imprecision.

Keywords

Global Positioning System; constraint handling; constraint satisfaction problems; transportation; CSP; GPS receiver; ICP algorithm; constraint satisfaction problem; gyro; interval constraint propagation algorithm; vehicle localization; Algorithm design and analysis; Bayes methods; Electronic mail; Global Positioning System; Iterative closest point algorithm; Vehicles; Wheels; CSP; Constraint Propagation; Data Fusion; GPS; Interval Analysis; Vehicle Positioning;

fLanguage

English

Publisher

ieee

Conference_Titel

Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2013 IEEE 3rd Annual International Conference on

Conference_Location

Nanjing

Print_ISBN

978-1-4799-0610-9

Type

conf

DOI

10.1109/CYBER.2013.6705442

Filename

6705442