Vehicle-Infrastructure Localization Based on the SME Filter

Feihu Zhang, Gereon Hinz, Daniel Clarke, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

Precise and accurate localization is important for safe autonomous driving. Given a traffic scenario with multiple vehicles equipped with proprioceptive sensors for self-localization and infrastructure equipped with exteroceptive sensors for car detection, vehicle-infrastructure communication can be used to improve the localization. However as the number of vehicles in a scenario increases, data association becomes increasingly challenging. We propose a solution utilizing the symmetric measurement equation filter (SME) for cooperative localization to address data association issues, as it does not require an enumeration of measurement-to-target associations. The key idea is to define a symmetric transformation which maps position measurements to a homogeneous function, thereby effectively addressing several challenges in vehicle-infrastructure scenarios such as bandwidth limitations, data association challenges and especially the configuration of the exteroceptive sensor. The approach works well even in the case that the location and orientation of the exteroceptive sensor are unknown. To the best of our knowledge, our proposed solution is among the first to address all these challenges of cooperative localization simultaneously, by utilizing the topology information of the vehicles. A comparative study based on simulations demonstrates the reliability and the feasibility of the proposed approach in 2D coordinates.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems
Subtitle of host publicationSmart Mobility for Safety and Sustainability, ITSC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages225-230
Number of pages6
ISBN (Electronic)9781467365956, 9781467365956, 9781467365956, 9781467365956
DOIs
StatePublished - 30 Oct 2015
Event18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 - Gran Canaria, Spain
Duration: 15 Sep 201518 Sep 2015

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2015-October

Conference

Conference18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
Country/TerritorySpain
CityGran Canaria
Period15/09/1518/09/15

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