DocumentCode :
3641887
Title :
Particle filter vehicle localization and map-matching using map topology
Author :
Ali Ufuk Peker;Oguz Tosun;Tankut Acarman
Author_Institution :
Computer Engineering Dept. Bogazici University, Bebek, Istanbul, Turkey
fYear :
2011
fDate :
6/1/2011 12:00:00 AM
Firstpage :
248
Lastpage :
253
Abstract :
This paper presents a novel algorithm for vehicle localization and map-matching using particle filter with the help of digital maps. Probability of being on a certain area of digital map according to vehicle speed is used in conjunction with routing information to augment likelihood function in weight calculation step of particle filter. Real life tests were conducted on different regions of Istanbul to test the performance of the algorithm. Test results show dramatic increase in correctness of map-matching and position correction. Algorithm also helps dead reckoning when GPS data is not available temporarily. A simple GPS receiver is fused with odometer data during tests. Expensive sensors are not used to achieve better price/performance for commercial usage.
Keywords :
"Roads","Particle filters","Vehicles","Sensors","Global Positioning System","Topology","Particle measurements"
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2011 IEEE
ISSN :
1931-0587
Print_ISBN :
978-1-4577-0890-9
Type :
conf
DOI :
10.1109/IVS.2011.5940473
Filename :
5940473
Link To Document :
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