Fast and robust vehicle positioning on graph-based representation of drivable maps

In this paper, we propose a car positioning approach that does not rely on GPS. We propose to use car wheel speeds and road maps in order to achieve robust positioning of the vehicle. The vehicle positioning is achieved by applying particle filtering on a graph-based representation of a road map. We...

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Bibliographic Details
Main Authors: Merriaux, P., Dupuis, Y., Vasseur, P., Savatier, X.
Format: Conference Proceeding
Language:English
Subjects:
Accuracy
Global Positioning System
Roads
Sensors
Vehicles
Wheels
Online Access:Request full text
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Summary:In this paper, we propose a car positioning approach that does not rely on GPS. We propose to use car wheel speeds and road maps in order to achieve robust positioning of the vehicle. The vehicle positioning is achieved by applying particle filtering on a graph-based representation of a road map. We show that the vehicle positioning is feasible and robust with these two inputs at a really low computational cost. We achieve car positioning with an averaged 5 m accuracy within a 100 km drivable road map on a 12 km sequence.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2015.7139578