Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map
Inexpensive implementation of localization and environment mapping are critical issues for urban autonomous driving. We present a practical and low-cost navigation architecture to fuse different data from vehicle onboard sensors and estimate the vehicle state when individual observations such as GPS...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Society of Automotive Engineers of Japan, Inc.
2012-01-01
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| Series: | International Journal of Automotive Engineering |
| Online Access: | https://www.jstage.jst.go.jp/article/jsaeijae/3/1/3_20124024/_article/-char/en |
| _version_ | 1797374366098391040 |
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| author | Hossein Tehrani Niknejad Mita Seiichi Han Long Huy Quoc |
| author_facet | Hossein Tehrani Niknejad Mita Seiichi Han Long Huy Quoc |
| author_sort | Hossein Tehrani Niknejad |
| collection | DOAJ |
| description | Inexpensive implementation of localization and environment mapping are critical issues for urban autonomous driving. We present a practical and low-cost navigation architecture to fuse different data from vehicle onboard sensors and estimate the vehicle state when individual observations such as GPS are noisy. We are trying to compensate the GPS errors by data fusion from different sensors in a probabilistic way and a particle filter with joint observations model has been proposed. We have evaluated the feasibility of proposed localization and navigation architecture for fully autonomous driving by doing many experiments in our campus including up and down slopes. |
| first_indexed | 2024-03-08T19:04:47Z |
| format | Article |
| id | doaj.art-7940c91087a4492bad5da27a8aa8c23d |
| institution | Directory Open Access Journal |
| issn | 2185-0992 |
| language | English |
| last_indexed | 2024-03-08T19:04:47Z |
| publishDate | 2012-01-01 |
| publisher | Society of Automotive Engineers of Japan, Inc. |
| record_format | Article |
| series | International Journal of Automotive Engineering |
| spelling | doaj.art-7940c91087a4492bad5da27a8aa8c23d2023-12-28T02:01:30ZengSociety of Automotive Engineers of Japan, Inc.International Journal of Automotive Engineering2185-09922012-01-0131192510.20485/jsaeijae.3.1_19Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise MapHossein Tehrani Niknejad0Mita Seiichi1Han Long2Huy Quoc3Toyota Technological InstituteToyota Technological InstituteToyota Technological InstituteToyota Technological InstituteInexpensive implementation of localization and environment mapping are critical issues for urban autonomous driving. We present a practical and low-cost navigation architecture to fuse different data from vehicle onboard sensors and estimate the vehicle state when individual observations such as GPS are noisy. We are trying to compensate the GPS errors by data fusion from different sensors in a probabilistic way and a particle filter with joint observations model has been proposed. We have evaluated the feasibility of proposed localization and navigation architecture for fully autonomous driving by doing many experiments in our campus including up and down slopes.https://www.jstage.jst.go.jp/article/jsaeijae/3/1/3_20124024/_article/-char/en |
| spellingShingle | Hossein Tehrani Niknejad Mita Seiichi Han Long Huy Quoc Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map International Journal of Automotive Engineering |
| title | Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map |
| title_full | Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map |
| title_fullStr | Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map |
| title_full_unstemmed | Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map |
| title_short | Multi-Sensor Data Fusion for Autonomous Vehicle Navigation and Localization through Precise Map |
| title_sort | multi sensor data fusion for autonomous vehicle navigation and localization through precise map |
| url | https://www.jstage.jst.go.jp/article/jsaeijae/3/1/3_20124024/_article/-char/en |
| work_keys_str_mv | AT hosseintehraniniknejad multisensordatafusionforautonomousvehiclenavigationandlocalizationthroughprecisemap AT mitaseiichi multisensordatafusionforautonomousvehiclenavigationandlocalizationthroughprecisemap AT hanlong multisensordatafusionforautonomousvehiclenavigationandlocalizationthroughprecisemap AT huyquoc multisensordatafusionforautonomousvehiclenavigationandlocalizationthroughprecisemap |