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Sensors 2017, 17(6), 1422;

Graph-Based Cooperative Localization Using Symmetric Measurement Equations

Robotics and Embedded Systems, Technische Universität München, Boltzmannstraße 3, 85748 Garching bei München, Germany
School of Marine Science and Technology, Northwestern Polytechnical University, 710072 Xi’an, China
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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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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