An experimental study on relative and absolute pose graph fusion for vehicle localization

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Abstract

In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotivegrade Global Navigation Satellite System (GNSS) at 1 Hertz, with a single relative localization system, i.e. vehicle odometry at 25 Hertz. Our evaluation is based on 180 Km long vehicle trajectories that are recorded in highway, urban and rural areas, and that are accompanied with post-processed Real Time Kinematic GNSS as ground truth. The results exhibit a significant reduction in the error's standard deviation by 18% but the bias in the error is unchanged, when compared to non-fused GNSS. We show that the underlying principle is the fact that errors in GNSS readings are highly correlated in time. This causes a bias that cannot be compensated for by using the relative localization information from the odometry, but it can reduce the standard deviation of the error.

Original languageEnglish
Title of host publication2018 IEEE Intelligent Vehicles Symposium, IV 2018
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages630-635
Number of pages6
ISBN (Electronic)9781538644522
DOIs
Publication statusPublished - 26 Jun 2018
Event2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China
Duration: 26 Sep 201830 Sep 2018

Conference

Conference2018 IEEE Intelligent Vehicles Symposium, IV 2018
CountryChina
CityChangshu, Suzhou
Period26/09/1830/09/18

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Cite this

Das, A., & Dubbelman, G. (2018). An experimental study on relative and absolute pose graph fusion for vehicle localization. In 2018 IEEE Intelligent Vehicles Symposium, IV 2018 (pp. 630-635). [8500512] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IVS.2018.8500512