Future advanced driver assistance systems and autonomous vehicles rely on accurate localization which can be divided into three classes: a) viewpoint localization with regard to local references (e.g., via vision-based localization), b) absolute localization with regard to a global reference system (e.g., via satellite navigation), and c) hybrid localization, which presents a combination of the former two. Hybrid localization shares characteristics and strengths of both, absolute and viewpoint localization. However, new sources of error, such as inaccurate sensor-setup calibration, complement the potential errors of the respective sub-systems. Therefore, this paper introduces a general approach to analyze error sources in hybrid localization systems. More specifically, we propose the Kappa-Phi method which allows for the decomposition of localization errors into individual components, i.e., into a sum of parameterized functions of the measured state (e.g., agent kinematics). The error components can then be leveraged to, e.g., improve localization predictions, correct map data or calibrate sensor setups. Theoretical derivations as well as evaluations show that the algorithm presents a promising approach to improve hybrid localization and to counter the weaknesses of the individual components of the system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Error Decomposition for Hybrid Localization Systems


    Beteiligte:
    Flade, Benedict (Autor:in) / Kohaut, Simon (Autor:in) / Eggert, Julian (Autor:in)


    Erscheinungsdatum :

    2021-09-19


    Format / Umfang :

    1398057 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    LOCALIZATION ERROR MONITORING

    ADAMS DEREK / BERMAN DAVID BURDICK / BOSSE MICHAEL CARSTEN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    LOCALIZATION ERROR MONITORING

    ADAMS DEREK / BERMAN DAVID BURDICK / BOSSE MICHAEL CARSTEN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Localization error monitoring

    ADAMS DEREK / BERMAN DAVID BURDICK / BOSSE MICHAEL CARSTEN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Localization error handling

    KAISER NATHANIEL JON / REBSAMEN BRICE | Europäisches Patentamt | 2022

    Freier Zugriff

    LOCALIZATION ERROR MONITORING

    ADAMS DEREK / BERMAN DAVID / BOSSE MICHAEL et al. | Europäisches Patentamt | 2021

    Freier Zugriff