Terrain-based road vehicle localization using particle filters

Adam J. Dean, Ryan D. Martini, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations


This work develops a real-time algorithm to localize a vehicle in the direction of travel without the use of GPS. The inputs to the algorithm include a terrain map of road grade and pitch measurements from an in-vehicle pitch sensor. Localization is achieved in real-time using a particle filter described in detail in this work. Simulations and experiments at The Pennsylvania Transportation Institute test track are used to demonstrate the algorithm, observe the speed of convergence, and to determine key parameters for practical implementation. The results indicate that the method can quickly localize a vehicle with one-meter accuracy or better.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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