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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

3 Citaties (Scopus)
4 Downloads (Pure)

Uittreksel

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.

Originele taal-2Engels
Titel2018 IEEE Intelligent Vehicles Symposium, IV 2018
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's630-635
Aantal pagina's6
ISBN van elektronische versie9781538644522
DOI's
StatusGepubliceerd - 26 jun 2018
Evenement2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China
Duur: 26 sep 201830 sep 2018

Congres

Congres2018 IEEE Intelligent Vehicles Symposium, IV 2018
LandChina
StadChangshu, Suzhou
Periode26/09/1830/09/18

Vingerafdruk

Experimental Study
Fusion
Navigation
Fusion reactions
Satellites
Graph in graph theory
Standard deviation
Kinematics
Trajectories
Trajectory
Evaluate
Evaluation

Citeer dit

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 (blz. 630-635). [8500512] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IVS.2018.8500512
Das, Anweshan ; Dubbelman, Gijs. / An experimental study on relative and absolute pose graph fusion for vehicle localization. 2018 IEEE Intelligent Vehicles Symposium, IV 2018. Piscataway : Institute of Electrical and Electronics Engineers, 2018. blz. 630-635
@inproceedings{600a662387d040bdb519bda800864e9f,
title = "An experimental study on relative and absolute pose graph fusion for vehicle localization",
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.",
author = "Anweshan Das and Gijs Dubbelman",
year = "2018",
month = "6",
day = "26",
doi = "10.1109/IVS.2018.8500512",
language = "English",
pages = "630--635",
booktitle = "2018 IEEE Intelligent Vehicles Symposium, IV 2018",
publisher = "Institute of Electrical and Electronics Engineers",
address = "United States",

}

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., 8500512, Institute of Electrical and Electronics Engineers, Piscataway, blz. 630-635, Changshu, Suzhou, China, 26/09/18. https://doi.org/10.1109/IVS.2018.8500512

An experimental study on relative and absolute pose graph fusion for vehicle localization. / Das, Anweshan; Dubbelman, Gijs.

2018 IEEE Intelligent Vehicles Symposium, IV 2018. Piscataway : Institute of Electrical and Electronics Engineers, 2018. blz. 630-635 8500512.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

TY - GEN

T1 - An experimental study on relative and absolute pose graph fusion for vehicle localization

AU - Das, Anweshan

AU - Dubbelman, Gijs

PY - 2018/6/26

Y1 - 2018/6/26

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85056760036&partnerID=8YFLogxK

U2 - 10.1109/IVS.2018.8500512

DO - 10.1109/IVS.2018.8500512

M3 - Conference contribution

AN - SCOPUS:85056760036

SP - 630

EP - 635

BT - 2018 IEEE Intelligent Vehicles Symposium, IV 2018

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

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