TY - GEN
T1 - Terrain-aided localization using feature-based particle filtering
AU - Kadetotad, Sneha
AU - Vemulapalli, Pramod K.
AU - Brennan, Sean N.
AU - Lagoa, Constantino
PY - 2011
Y1 - 2011
N2 - The localization of vehicles on roadways without the use of a GPS has been of great interest in recent years and a number of solutions have been proposed for the same. The localization of vehicles has traditionally been divided by their solution approaches into two different categories: global localization which uses feature-vector matching, and local tracking which has been dealt by using techniques like Particle Filtering or Kalman Filtering. This paper proposes a unifying approach that combines the feature-based robustness of global search with the local tracking capabilities of a particle filter. Using feature vectors produced from pitch measurements from Interstate 1-80 and US Route 220 in Pennsylvania, this work demonstrates wide area localization of a vehicle with the computational efficiency of local tracking.
AB - The localization of vehicles on roadways without the use of a GPS has been of great interest in recent years and a number of solutions have been proposed for the same. The localization of vehicles has traditionally been divided by their solution approaches into two different categories: global localization which uses feature-vector matching, and local tracking which has been dealt by using techniques like Particle Filtering or Kalman Filtering. This paper proposes a unifying approach that combines the feature-based robustness of global search with the local tracking capabilities of a particle filter. Using feature vectors produced from pitch measurements from Interstate 1-80 and US Route 220 in Pennsylvania, this work demonstrates wide area localization of a vehicle with the computational efficiency of local tracking.
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U2 - 10.1115/DSCC2011-6025
DO - 10.1115/DSCC2011-6025
M3 - Conference contribution
AN - SCOPUS:84881456750
SN - 9780791854761
T3 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
SP - 725
EP - 731
BT - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
T2 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Y2 - 31 October 2011 through 2 November 2011
ER -