Localization of a robot is a central theme of different elaborations. But the determination of an exact position for a vehicle in urban area is more complex and an extensive algorithm challenge. This paper adresses the precise localization of a vehicle by combination of different sensor information using a Kalman and Particle filter. We present a vision based approach, which handles especially the kidnapping problem by standard sensor technology of a series-production vehicle. Therefore, the fusion of GPS 1 data and odometry, like speed and turn rate, produces a good initial position, which is the basis for generating different pose hypotheses. The inaccuracy of the GPS receiver limits their range of dispersion. For the evaluation, the subsequent Particle filter matches high precise map information with the current grayscale image of a built in camera. Different approaches known from robotics engineering are validated for their feasibility in automotive applications.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Adaption of robotic approaches for vehicle localization


    Additional title:

    Adaption von Methodiken aus der Robotertechnik auf die Fahrzeuglokalisierung


    Contributors:


    Publication date :

    2010


    Size :

    6 Seiten, 6 Bilder, 13 Quellen


    Remarks:

    (nicht paginiert)


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




    Adaption of robotic approaches for vehicle localization

    Schoenherr,K. / Giesler,B. / Knoll,A. et al. | Automotive engineering | 2010


    Adaption of the Engine to the Vehicle

    Desjardins,G.P. / Renault,FR | Automotive engineering | 1980


    Speed adaption system for vehicle using RF communication

    Song,B.H. / Nam-Koong,S. / Han,M.H. et al. | Automotive engineering | 2000


    Adaption of mathematical vehicle models to experimental results

    Oberdieck,W. / Richter,B. / Zimmermann,P. et al. | Automotive engineering | 1980


    Vehicle cruise system based on acceleration self-adaption

    LIU BIN / YANG CHEN / FANG HENG | European Patent Office | 2024

    Free access