In this chapter, we present a fusion approach to localize urban vehicles by integrating visual odometry, a low‐cost GPS, and a 2D digital road map. Distinguished from conventional sensor fusion methods, two types of potential functions (i.e. potential wells and potential trenches) are proposed to represent measurements and constraints, respectively. By choosing different potential functions according to data properties, data from various sensors can be integrated with intuitive understanding, and no extra map matching is required. The minimum of the fused potential, which is regarded as a position estimate, is confined such that fast minimum searching can be achieved. Experiments under realistic conditions have been conducted to validate satisfactory positioning accuracy and robustness compared to pure visual odometry and map‐matching methods.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    GPS/Odometry/Map Fusion for Vehicle Positioning Using Potential Functions


    Contributors:
    Liu, Xinghua (author) / Jiang, Rui (author) / Chen, Badong (author) / Sam Ge, Shuzhi (author)


    Publication date :

    2022-09-27


    Size :

    20 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    GPS/odometry/map fusion for vehicle positioning using potential function

    Jiang, R. | British Library Online Contents | 2018


    POSITIONING AND ODOMETRY SYSTEM

    GREEN ALON / TOBIN JAMES KEVIN / DE THOMASIS MARCO | European Patent Office | 2021

    Free access

    POSITIONING AND ODOMETRY SYSTEM

    GREEN ALON / TOBIN JAMES KEVIN / DE THOMASIS MARCO | European Patent Office | 2024

    Free access

    POSITIONING AND ODOMETRY SYSTEM

    GREEN ALON / TOBIN JAMES KEVIN / DE THOMASIS MARCO | European Patent Office | 2021

    Free access

    Positioning and odometry system

    GREEN ALON / TOBIN JAMES KEVIN / DE THOMASIS MARCO | European Patent Office | 2024

    Free access