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Sensors 2017, 17(6), 1422; doi:10.3390/s17061422

Graph-Based Cooperative Localization Using Symmetric Measurement Equations

1
Robotics and Embedded Systems, Technische Universität München, Boltzmannstraße 3, 85748 Garching bei München, Germany
2
School of Marine Science and Technology, Northwestern Polytechnical University, 710072 Xi’an, China
3
Cogsense Technologies Limited, Berkshire RG14 1QL, UK
*
Author to whom correspondence should be addressed.
Received: 28 April 2017 / Revised: 13 June 2017 / Accepted: 13 June 2017 / Published: 17 June 2017
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Abstract

Precise localization is a key requirement for the success of highly assisted or autonomous vehicles. The diminishing cost of hardware has resulted in a proliferation of the number of sensors in the environment. Cooperative localization (CL) presents itself as a feasible and effective solution for localizing the ego-vehicle and its neighboring vehicles. However, one of the major challenges to fully realize the effective use of infrastructure sensors for jointly estimating the state of a vehicle in cooperative vehicle-infrastructure localization is an effective data association. In this paper, we propose a method which implements symmetric measurement equations within factor graphs in order to overcome the data association challenge with a reduced bandwidth overhead. Simulated results demonstrate the benefits of the proposed approach in comparison with our previously proposed approach of topology factors. View Full-Text
Keywords: cooperative localization; factor graphs; SME; SLAM cooperative localization; factor graphs; SME; SLAM
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Gulati, D.; Zhang, F.; Clarke, D.; Knoll, A. Graph-Based Cooperative Localization Using Symmetric Measurement Equations. Sensors 2017, 17, 1422.

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