Recently, the vehicle localization has become a major problem in the field of intelligent transportation systems (ITS). Modern vehicles support multiple systems for localization, such as Global Positioning System (GPS), Inertial Measurement Unit (IMU), lidar, and video feed. However, the problem of merging data from different sources for reducing errors remains challenging. This problem becomes increasingly hard if we use data with high uncertainty — for example, crowdsourced environmental features. Such data can provide invaluable information, especially when other data sources, such as GPS, are not available. Unfortunately, using it for vehicle localization requires great care, as crowdsourced data can be very noisy and imprecise. In this paper we present a Bayesian approach for sensor fusion, and use it to improve vehicle localization using crowdsourced data of traffic sign positions. We show that this method offers noticeable improvements (error reduction by 8.2%) compared to using GNSS and IMU only, and is comparable to the use of precise traffic signs positions —which are superior to crowdsourced positions, but very hard to obtain at scale.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Bayesian Framework for Vehicle Localization Using Crowdsourced Data


    Beteiligte:


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    1690009 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    BAYESIAN FRAMEWORK FOR VEHICLE LOCALIZATION USING CROWDSOURCED DATA

    Verentsov, Sergey / Magerramov, Emil / Vinogradov, Vlad et al. | British Library Conference Proceedings | 2018


    Personalized Routing using Crowdsourced Connected Vehicle Data

    Tiwari, Anuj / Berntorp, Karl / Di Cairano, Stefano et al. | IEEE | 2023


    Crowdsourced vehicle history

    NGUYEN VINCENT | Europäisches Patentamt | 2019

    Freier Zugriff

    Pose-graph based Crowdsourced Mapping Framework

    Das, Anweshan / IJsselmuiden, Joris / Dubbelman, Gijs | IEEE | 2020


    Pavement Condition Monitoring with Crowdsourced Connected Vehicle Data

    Dennis, Eric Paul / Hong, Qiang / Wallace, Richard et al. | Transportation Research Record | 2014