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Segmented SLAM in three-dimensional environments

Nathaniel Fairfield, David Wettergreen, George Kantor
2010 Journal of Field Robotics  
SLAM can be formulated on these pieces by using a combination of metric submaps and a topological map of the relationships between submaps.  ...  The contribution of this paper is a realtime, three-dimensional SLAM approach that combines an evidence grid-based volumetric submap representation, a robust Rao-Blackwellized particle filter, and a topologically  ...  finding matches with particle filter localization.  ... 
doi:10.1002/rob.20320 fatcat:nrxsyzcqxngqrgxoym72gw55be

Lane marking based vehicle localization using particle filter and multi-kernel estimation

Wenjie Lu, Emmanuel Seignez, F. Sergio A. Rodriguez, Roger Reynaud
2014 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)  
A particle filter is implemented to estimate the vehicle position with respect to the detected markings. Then, map-based markings are constructed according to an open source map database.  ...  Finally, vision-based markings and map-based markings are fused to obtain the improved vehicle fix.  ...  Particle filter is commonly used in map-matching [5] . Vehicle localization part uses map information to adjust vehicle location.  ... 
doi:10.1109/icarcv.2014.7064372 dblp:conf/icarcv/LuSRR14 fatcat:6sroi52es5a23dj3aobbvnxa2e

Probabilistic error model for a lane marking based vehicle localization coupled to open source maps

Wenjie Lu, Sergio A. Rodriguez F., Emmanuel Seignez, Roger Reynaud
2014 17th International IEEE Conference on Intelligent Transportation Systems (ITSC)  
Recent works have focused on lane marking feature based vehicle localization using enriched maps.  ...  In this article, we propose a marking feature based vehicle localization using open source map.  ...  Localization using lane marking is considered as one branch of map-matching localization.  ... 
doi:10.1109/itsc.2014.6957717 dblp:conf/itsc/LuFSR14 fatcat:ebojayatdvcrvjdz6fes2jv7zm

Integrity provision for map-matched positioning of road vehicles at lane level

Rafael Toledo-Moreo, David Beataille, Francois Peyret
2009 2009 12th International IEEE Conference on Intelligent Transportation Systems  
referred to a local map, and on the other hand, an indicator of the quality of these positions, the so called integrity.  ...  The map-matched positions are commonly estimated in two separated phases: firstly, position is determined by means of GNSS (in occasions assisted by odometry or inertial sensors) and secondly, a map-matching  ...  of the Positioning and Mapping subproject POMA of CVIS, and the group of Intelligent Systems and Telematics/University of Murcia, awarded as an excellence researching group in frames of the Spanish Plan  ... 
doi:10.1109/itsc.2009.5309717 fatcat:wrnyv3sckjaifnk2dzqsfxm3m4

OpenStreetSLAM: Global vehicle localization using OpenStreetMaps

Georgios Floros, Benito van der Zander, Bastian Leibe
2013 2013 IEEE International Conference on Robotics and Automation  
In this paper we propose an approach for global vehicle localization that combines visual odometry with map information from OpenStreetMaps to provide robust and accurate estimates for the vehicle's position  ...  The main contribution of this work comes from the incorporation of the map data as an additional cue into the observation model of a Monte Carlo Localization framework.  ...  Acknowledgments: This research has been funded, in parts, by ERC Starting Grant CV-SUPER (ERC-2012-StG-307432) and by the cluster of excellence UMIC (DFG EXC 89).  ... 
doi:10.1109/icra.2013.6630703 dblp:conf/icra/FlorosZL13 fatcat:nyjuxdbfpbhghciobeq36rfj64

Simultaneous Localization and Map Building [chapter]

José A. Castellanos, Juan D. Tardós
1999 Mobile Robot Localization and Map Building  
SLAM addresses the problem of a robot navigating and building a map of an unknown environment, without an initial map or an absolute localization means.  ...  Simultaneous Localization and Mapping (SLAM) has been one of the active research areas in robotic community for the past decade of years.  ...  Vu et. al. tackled this problem by implementing particle filter in the localization of the vehicle in the occupancy grid map [45] .  ... 
doi:10.1007/978-1-4615-4405-0_6 fatcat:ekdr64arsvdenovdrr3ejbswya

Localization under Topological Uncertainty for Lane Identification of Autonomous Vehicles [article]

Samer B. Nashed, David M. Ilstrup, Joydeep Biswas
2018 arXiv   pre-print
Autonomous vehicles (AVs) require accurate metric and topological location estimates for safe, effective navigation and decision-making.  ...  VSM-HMMs use a dynamic set of HMMs to simultaneously reason about location within a set of most likely current topologies and therefore may also be applied to topological structure estimation as well as  ...  There are many variants, including approaches which use vanilla particle filters [18] , Rao-Blackwellized particle filters [10] , and Kalman Filters [19] , [21] , [5] .  ... 
arXiv:1803.01378v1 fatcat:fb6suelahze6db45b27qinxr7i

A Survey of Localization Methods for Autonomous Vehicles in Highway Scenarios

Johann Laconte, Abderrahim Kasmi, Romuald Aufrère, Maxime Vaidis, Roland Chapuis
2021 Sensors  
For this purpose, the vehicle needs to be able to take into account the information from several sensors and fuse them with data coming from road maps.  ...  In the context of autonomous vehicles on highways, one of the first and most important tasks is to localize the vehicle on the road.  ...  The used map-marking strategy relies on a Particle Filter algorithm.  ... 
doi:10.3390/s22010247 pmid:35009790 pmcid:PMC8749843 fatcat:aqd7iddh2za4dbmeyeyxl3kyme

Heterogeneous Map Merging: State of the Art

Andersone
2019 Robotics  
While theexisting robot map and environment model merging techniques allow merging certain homogeneousmaps, the possibility to use sensors of different physical nature and different mapping algorithms  ...  to different sensors being used by different systems.  ...  Robots use Rao Blackwellized particle filter for mapping, similar to Ozkucur and Akin in [9] , but they only consider the matching of the most probable particle from each map.  ... 
doi:10.3390/robotics8030074 fatcat:ihjxmwgozvfq7kizwm67u5xseq

Bayesian Train Localization with Particle Filter, Loosely Coupled GNSS, IMU, and a Track Map

Oliver Heirich
2016 Journal of Sensors  
The nonlinear estimation of the train localization posterior is addressed with a novel Rao-Blackwellized particle filter (RBPF) approach.  ...  The train localization algorithm is further based on a track map and measurements from a Global Navigation Satellite System (GNSS) receiver and an inertial measurement unit (IMU).  ...  (DLR) for initial software implementations, Stephan Sand (DLR) for proofreading, and Christoph Günther (DLR) for comments.  ... 
doi:10.1155/2016/2672640 fatcat:rizymctbkfen7g5v6f2ztwjaj4

Localization in large-scale underground environments with RFID

S. Radacina Rusu, M. J. D. Hayes, J. A. Marshall
2011 2011 24th Canadian Conference on Electrical and Computer Engineering(CCECE)  
This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps.  ...  Sporadically placed passive RFID tags are used in the creation of the locally consistent node maps and for helping to solve the global localization problem.  ...  Here, a particle filter is used for localization, which is based on recursive Bayesian filtering and is commonly used in mobile robotics [5] .  ... 
doi:10.1109/ccece.2011.6030640 dblp:conf/ccece/RusuHM11 fatcat:57sj4qycbfhcrm2vkscszeamgm

Robust Global Urban Localization Based on Road Maps [chapter]

Jose Guivant, Mark Whitty, Alicia Robledo
2010 Robot Localization and Map Building  
Section 3 describes our proposed approach to perform vehicle localization using particle filters and route network description (RNDF) segment-based a priori maps.  ...  ., 2005) proposes a method that uses segment-based maps and Kalman filtering to perform an accurate localization constrained to the map.  ...  This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms.  ... 
doi:10.5772/9269 fatcat:2znj73xrsjd4beqpk2yhin4am4

Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving

Guillaume Bresson, Zayed Alsayed, Li Yu, Sebastien Glaser
2017 IEEE Transactions on Intelligent Vehicles  
The growing interest regarding self-driving cars has given new directions to localization and mapping techniques.  ...  In this article, we propose a survey of the Simultaneous Localization And Mapping field when considering the recent evolution of autonomous driving.  ...  During the localization phase, stereo matching with the map, along with odometry and GPS are all integrated inside a particle filter.  ... 
doi:10.1109/tiv.2017.2749181 fatcat:ohjoahw24zakrmrleg6vogzg3q

Lane-Level Integrity Provision for Navigation and Map Matching With GNSS, Dead Reckoning, and Enhanced Maps

R. Toledo-Moreo, D. Betaille, F. Peyret
2010 IEEE transactions on intelligent transportation systems (Print)  
Index Terms-Enhanced maps (Emaps), integrity provision, map matching, particle filter (PF), road vehicle navigation.  ...  maps, by means of a multiple-hypothesis particle-filter-based algorithm.  ...  Schingelhof and his team at the German Aerospace Center (DLR), Institute of Transportation Systems, for their work in the data collection in Berlin.  ... 
doi:10.1109/tits.2009.2031625 fatcat:lm776fkxabfizbifjgyrhu6dlm

Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

Yuwen Hu, Jianwei Gong, Yan Jiang, Lu Liu, Guangming Xiong, Huiyan Chen
2013 Remote Sensing  
OPEN ACCESS Remote Sens. 2013, 5 3663 Keywords: hybrid map; unmanned ground vehicle; topological map; metric map; simultaneous localization and mapping; Markov localization; laser scanner Introduction  ...  To reduce the data size of metric map and map matching computational cost in unmanned ground vehicle self-driving navigation in urban scenarios, a metric-topological hybrid map navigation system is proposed  ...  The pose estimation is resolved using a particle filter. Initially, particles are uniformly distributed in the area without any prior knowledge of the vehicle's position.  ... 
doi:10.3390/rs5083662 fatcat:zzuiccswl5hd7huxdafpfc4n5e
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