Cooperative Localization of Vehicles without Inter-vehicle Measurements
Paper in proceedings, 2018

While cooperation among vehicles can improve localization, standard communication technologies (e.g., 802.11p) cannot provide reliable range or angle measurements. To allow cooperation without explicit inter-vehicle measurements, we propose a cooperative localization method whereby vehicles track mobile features in the environment and use associations of features among vehicles to improve the vehicles' localization accuracy. The proposed algorithm, which scales linearly in the number of vehicles and quadratically in the number of tracked features, shows superior localization performance compared to a non-cooperative approach.

Author

Markus Fröhle

Chalmers, Electrical Engineering, Kommunikationssystem, informationsteori och antenner, Communication Systems

CHRISTOPHER LINDBERG

Chalmers, Electrical Engineering, Kommunikationssystem, informationsteori och antenner, Communication Systems

Henk Wymeersch

Chalmers, Electrical Engineering, Kommunikationssystem, informationsteori och antenner, Communication Systems

2018 IEEE WIRELESS COMMUNICATIONS AND NETWORKING CONFERENCE (WCNC)

1525-3511 (ISSN)

IEEE Wireless Communications and Networking Conference (WCNC)
Barcelona, Spain,

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA, 2016-01-01 -- 2018-12-31.

High precision positioning for cooperative ITS applications

European Commission (Horizon 2020), 2015-01-01 -- 2017-12-31.

Subject Categories

Vehicle Engineering

Signal Processing

Computer Vision and Robotics (Autonomous Systems)