Sensors (Basel)
Robotics and Embedded Systems, Technische Universität München, Boltzmannstraße 3, 85748 Garching bei München, Germany.
Published: June 2017
Precise localization is a key requirement for the success of highly assisted or autonomous vehicles. The diminishing cost of hardware has resulted in a proliferation of the number of sensors in the environment. Cooperative localization (CL) presents itself as a feasible and effective solution for localizing the ego-vehicle and its neighboring vehicles. However, one of the major challenges to fully realize the effective use of infrastructure sensors for jointly estimating the state of a vehicle in cooperative vehicle-infrastructure localization is an effective data association. In this paper, we propose a method which implements symmetric measurement equations within factor graphs in order to overcome the data association challenge with a reduced bandwidth overhead. Simulated results demonstrate the benefits of the proposed approach in comparison with our previously proposed approach of topology factors.
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http://www.ncbi.nlm.nih.gov/pmc/articles/PMC5492843 | PMC |
http://dx.doi.org/10.3390/s17061422 | DOI Listing |
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