Cooperative Localization of Vehicles without Inter-vehicle Measurements
Paper i proceeding, 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.

Författare

Markus Fröhle

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

CHRISTOPHER LINDBERG

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

2018 IEEE WIRELESS COMMUNICATIONS AND NETWORKING CONFERENCE (WCNC)

1525-3511 (ISSN)

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

High precision positioning for cooperative ITS applications

Europeiska kommissionen (Horisont 2020), 2015-01-01 -- 2017-12-31.

COPPLAR CampusShuttle cooperative perception & planning platform

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

Ämneskategorier

Farkostteknik

Signalbehandling

Datorseende och robotik (autonoma system)

DOI

10.1109/WCNC.2018.8377047

ISBN

9781538617342

Mer information

Senast uppdaterat

2019-01-09