Incremental hopping-window pose-graph fusion for real-time vehicle localization

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Samenvatting

In this work, we research and evaluate incremental hopping-window pose-graph fusion strategies for vehicle localization. Pose-graphs can model multiple absolute and relative vehicle localization sensors, and can be optimized using non-linear techniques. We focus on the performance of incremental hopping-window optimization for on-line usage in vehicles and compare it with global off-line optimization. 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 17% reduction in the error's standard deviation and a significant reduction in GNSS outliers when compared with automotive-grade GNSS receivers. The incremental hopping-window pose-graph optimization bounds the computation cost, when compared to global pose-graph fusion, which increases linearly with the size of the pose-graph, whereas the difference in accuracy is only 1%. This allows real-time usage of non-linear pose-graph fusion for vehicle localization.
Originele taal-2Engels
Titel2019 IEEE 89th Vehicular Technology Conference (VTC2019-Spring)
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's7
ISBN van elektronische versie978-1-7281-1216-9
ISBN van geprinte versie978-1-7281-1217-6
DOI's
StatusGepubliceerd - 27 jun 2019
Evenement89th IEEE Vehicular Technology Conference, VTC Spring 2019 - Kuala Lumpur, Maleisië
Duur: 28 apr 20191 mei 2019

Congres

Congres89th IEEE Vehicular Technology Conference, VTC Spring 2019
Verkorte titel VTC Spring 2019
LandMaleisië
StadKuala Lumpur
Periode28/04/191/05/19

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Citeer dit

Das, A., & Dubbelman, G. (2019). Incremental hopping-window pose-graph fusion for real-time vehicle localization. In 2019 IEEE 89th Vehicular Technology Conference (VTC2019-Spring) [8746464] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/VTCSpring.2019.8746464