Graph-Based Cooperative Localization Using Symmetric Measurement Equations
AbstractPrecise 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
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Gulati, D.; Zhang, F.; Clarke, D.; Knoll, A. Graph-Based Cooperative Localization Using Symmetric Measurement Equations. Sensors 2017, 17, 1422.
Gulati D, Zhang F, Clarke D, Knoll A. Graph-Based Cooperative Localization Using Symmetric Measurement Equations. Sensors. 2017; 17(6):1422.Chicago/Turabian Style
Gulati, Dhiraj; Zhang, Feihu; Clarke, Daniel; Knoll, Alois. 2017. "Graph-Based Cooperative Localization Using Symmetric Measurement Equations." Sensors 17, no. 6: 1422.
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