TY - GEN
T1 - Egomaster
T2 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
AU - Baer, Michael
AU - Bouzouraa, Mohamed Essayed
AU - Demiral, Christopher
AU - Hofmann, Ulrich
AU - Gies, Stefan
AU - Diepold, Klaus
PY - 2009
Y1 - 2009
N2 - In this paper we present an approach for a central ego motion estimation with standard and near-series sensors for advanced driver assist systems. The two main contributions of this article are the provision of all variables relative to the road surface and the fusion of several sensors and perception modules providing information of ego localization. Thus we employ a discrete Kalman filter to consider the standard lift sensors of the suspension and to take the radial tire deflection into account. Additionally, a reference sensor set is introduced which enables to evaluate all measured and estimated states, even those which are not related to the vector of gravity. The validation by the reference sensor set demonstrates the accurrancy and the efficiency of the approach.
AB - In this paper we present an approach for a central ego motion estimation with standard and near-series sensors for advanced driver assist systems. The two main contributions of this article are the provision of all variables relative to the road surface and the fusion of several sensors and perception modules providing information of ego localization. Thus we employ a discrete Kalman filter to consider the standard lift sensors of the suspension and to take the radial tire deflection into account. Additionally, a reference sensor set is introduced which enables to evaluate all measured and estimated states, even those which are not related to the vector of gravity. The validation by the reference sensor set demonstrates the accurrancy and the efficiency of the approach.
UR - http://www.scopus.com/inward/record.url?scp=77950387760&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2009.5410518
DO - 10.1109/ICCA.2009.5410518
M3 - Conference contribution
AN - SCOPUS:77950387760
SN - 9781424447060
T3 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
SP - 1708
EP - 1715
BT - 2009 IEEE International Conference on Control and Automation, ICCA 2009
Y2 - 9 December 2009 through 11 December 2009
ER -