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Vehicle Localization via Cooperative Channel Mapping
[article]
2021
arXiv
pre-print
Preserved Fulltext
An algorithm is derived for reflector selection and estimation, combined with a team particle filter (TPF) so as to achieve high precision simultaneous multiple vehicle positioning. ...
This paper addresses vehicle positioning, a topic whose importance has risen dramatically in the context of future autonomous driving systems. ...
ACKNOWLEDGMENT This work is partially supported by Research on the key technology of seamless handover in cloud-RAN for network assisted automatic driving, NSFC project, under grant 61801047. ...
arXiv:2102.04852v1
fatcat:kqmgmrrgenh3higgmcbyxkwgni
Radar-based Dynamic Occupancy Grid Mapping and Object Detection
[article]
2020
arXiv
pre-print
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The approach is evaluated qualitatively and quantitatively with real-world data from a moving vehicle in urban environments. ...
Subsequently, the clustering of dynamic areas provides high-level object information. For comparison, also a lidar-based method is developed. ...
Nevertheless, the radar-based method also leads to errors due to noisy measurements caused by multi-path propagation as in areas of a metallic scaffold 4 or fence 5 . ...
arXiv:2008.03696v1
fatcat:ucnno2ssanbsvpojjcru2qbsbe
IEEE Access Special Section Editorial: Urban Computing and Intelligence
2021
IEEE Access
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This Special Section has provided a platform for researchers and practitioners from both academia and industry in the area of urban computing and intelligence. ...
A command-level anomaly detection (CAD) method is proposed for a vehicle-road collaborative 130690 This work is licensed under a Creative Commons Attribution 4.0 License. ...
He serves as an editorial board member for six international journals and a guest editor for international journals. ...
doi:10.1109/access.2021.3111669
fatcat:qmiy5ngnyvfcvbe5is7estlfou
Efficient Techniques for Dynamic Vehicle Detection
[chapter]
2009
Springer Tracts in Advanced Robotics
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We present the vehicle detection algorithm developed for our entry in the Urban Grand Challenge, an autonomous driving race organized by the U.S. Government in 2007. ...
Fast detection of moving vehicles is crucial for safe autonomous urban driving. ...
The authors thank all team members for their hard work. The Stanford Racing Team is indebted to DARPA for creating the UGC, and for its financial support under the Track A Program. ...
doi:10.1007/978-3-642-00196-3_10
fatcat:i4vxkwq5qfeatbax2ruvp6i3da
3D Scene Understanding at Urban Intersection Using Stereo Vision and Digital Map
2017
2017 IEEE 85th Vehicular Technology Conference (VTC Spring)
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2021 pre-print arXiv:2112.05295v1 fatcat:okq2cm54v5hlfjxjdwrhqisfye
It is thus crucial for autonomous vehicles to comprehensively understand challenging urban traffic scenes in order to navigate intersections and prevent accidents. ...
Stereo vision is used to detect, classify and track obstacles, while a 3D digital map is used to improve ego-localization and provide context in terms of road-layout information. ...
With the particle states and positioning result at 𝑡 − 1, the particle filter will exclude low-weighted particles, and recursively estimate the localization result x 𝑡 for the ego-vehicle at time 𝑡. ...
doi:10.1109/vtcspring.2017.8108283
dblp:conf/vtc/BhattacharyyaGB17
fatcat:um42cudbqrhwzkowwgh6lp4ww4
All Weather Perception: Joint Data Association, Tracking, and Classification for Autonomous Ground Vehicles
[article]
2016
arXiv
pre-print
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The presented algorithm extends a Rao-Blackwellized Particle Filter originally built with a particle filter for data association and a Kalman filter for multi-object tracking (Miller et al. 2011a) to now ...
A novel probabilistic perception algorithm is presented as a real-time joint solution to data association, object tracking, and object classification for an autonomous ground vehicle in all-weather conditions ...
Acknowledgments The authors would like to thank Trimble for providing Omnnistar HP DGPS corrections service, NVIDIA for providing a GTX980 GPU, Kevin Wyffels for insightful discussions on the classification ...
arXiv:1605.02196v1
fatcat:rh7tx4x7qfaonb7yoc34qcmziu
Model Based Vehicle Tracking for Autonomous Driving in Urban Environments
2008
Robotics: Science and Systems IV
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Situational awareness is crucial for autonomous driving in urban environments. This paper describes moving vehicle tracking module that we developed for our autonomous driving robot Junior. ...
Our approach models both dynamic and geometric properties of the tracked vehicles and estimates them using a single Bayes filter per vehicle. ...
The authors thank all team members for their hard work. The Stanford Racing Team is indebted to DARPA for creating the Urban Challenge, and for its financial support under the Track A Program. ...
doi:10.15607/rss.2008.iv.023
dblp:conf/rss/PetrovskayaT08
fatcat:yg5vgvoxs5a57l5dq3fdnwwlji
HybridSLAM: Combining FastSLAM and EKF-SLAM for Reliable Mapping
[chapter]
2009
Springer Tracts in Advanced Robotics
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In addition, the HybridSLAM algorithm is experimentally validated in a real urban environment. ...
The use of FastSLAM locally avoids linearisation of the vehicle model and provides a high level of robustness to clutter and ambiguous data association. ...
Live Experiments The HYBRID filter was used to generate a map in a real urban environment, using a Segway RMP equipped with a SICK laser, as shown in Figure 5 . ...
doi:10.1007/978-3-642-00312-7_40
fatcat:xdhsrq5ptnhofc4ilg6rx3uoc4
Overview of Environment Perception for Intelligent Vehicles
2017
IEEE transactions on intelligent transportation systems (Print)
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The state-of-the-art algorithms and modeling methods for intelligent vehicles are given, with a summary of their pros and cons. ...
A special attention is paid to methods for lane and road detection, traffic sign recognition, vehicle tracking, behavior analysis, and scene understanding. ...
A joint lanes and vehicles tracking system was proposed by a PDA filter using camera in [147] . ...
doi:10.1109/tits.2017.2658662
fatcat:mvfmou6ydjafnjq3ddk5rqi5ia
Obstructed Target Tracking in Urban Environments
[article]
2019
arXiv
pre-print
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In this paper, we propose the integration of geospatial data for an urban environment into a particle filter realization of a random finite set target tracking algorithm. ...
The localization error performance improvement for a single target Bernoulli filter under these modifications is presented using freely available building vector data of New York City. ...
In this paper, we provide a method for integrating urban geographic information system (GIS) data into a Bernoulli random finite set (RFS) tracker [12] for localizing targets within a 2D cartesian plane ...
arXiv:1906.02397v1
fatcat:psjsj3vt6jhdzfbx6srle3beq4
Model based vehicle detection and tracking for autonomous urban driving
2009
Autonomous Robots
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Situational awareness is crucial for autonomous driving in urban environments. ...
Our approach models both dynamic and geometric properties of the tracked vehicles and estimates them using a single Bayes filter per vehicle. ...
The authors thank all team members for their hard work. The Stanford Racing Team is indebted to DARPA for creating the Urban Challenge, and for its financial support under the Track A Program. ...
doi:10.1007/s10514-009-9115-1
fatcat:62rh6ymstje37eynbssm6b2n3y
Enhancement of Low-cost GNSS Localization in Connected Vehicle Networks Using Rao-Blackwellized Particle Filters
[article]
2016
arXiv
pre-print
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A Rao-Blackwellized particle filter (RBPF) was used to jointly estimate the common biases of the pseudo-ranges and the vehicles positions. ...
An essential function for automated vehicle technologies is accurate localization. ...
It will be true for most rural areas and some urban areas. ...
arXiv:1606.03736v2
fatcat:jwgv566qmvdhhjimcqa7ityt5u
Cross-view and Cross-domain Underwater Localization based on Optical Aerial and Acoustic Underwater Images
[article]
2022
arXiv
pre-print
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The approach is validated on a real dataset acquired by an underwater vehicle in a marina. The results show an improvement in the localization when compared to the dead reckoning of the vehicle. ...
The method identifies the correlation between color aerial images and underwater acoustic images to improve the localization of underwater vehicles that travel in partially structured environments such ...
The Monte Carlo Localization, also known as Particle Filter, is a well-known localization method that can model a multi-modal non-Gaussian probabilistic distribution function by spreading hypotheses in ...
arXiv:2202.07817v1
fatcat:yznacxxza5ed5l7cvnedawzolu
Robust Autonomous Navigation and World Representation in Outdoor Environments
[chapter]
2007
Mobile Robots: Perception & Navigation
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The SLAM algorithm builds a map while the vehicle explores a new area. The map states will be, in most cases, highly correlated in a local area. ...
A joint state vector with the vehicle pose and the feature positions is maintained and the dense maps are stored in a separate data structure. ...
In particular, the Jacobians will be calculated properly. In several cases, the filter could behave in a consistent way. ...
doi:10.5772/4778
fatcat:ny3um6yitbffvawmpjaejbf36u
Cooperative relative localization using range measurements without a priori information
2020
IEEE Access
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In this paper, we extend the 2-vehicle relative localization work [33] to an N-vehicle cooperative relative localization problem using the concept of MHEKF to initialize an Nvehicle joint filter with ...
In our recent work, [33] , we have proposed a Multi-Hypothesis Extended Kalman Filter (MHEKF) to estimate relative position and relative heading for two vehicles using range-only measurements. ...
doi:10.1109/access.2020.3035470
fatcat:cddadk3t4bgitjm32ygssafmq4
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