Particle filter-based position estimation in road networks using digital elevation models

C Mandel, T Laue
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Nowadays, the Global Positioning System (GPS) can be considered as being the de-facto standard for localization in road networks, delivering a reasonable precision at most places and being available through a huge variety of devices. Nevertheless, if signal reception is disturbed, no position estimates can be computed anymore. In this paper, we present an approach for localization in road networks which is based on a particle filter computing estimates using only basic environmental
more » ... the road network's structure and its height profile. The approach is demonstrated in experiments of an electrical wheelchair driving through a small town.
doi:10.1109/iros.2010.5650755 dblp:conf/iros/MandelL10 fatcat:msi6hvwmvnfgzkgypzhgnqynlu