Communication Dans Un Congrès Année : 2025

Landmark-based Geopositioning with Imprecise Map

Résumé

This paper introduces a novel approach for real-time global positioning of vehicles, leveraging coarse landmark maps with Gaussian position uncertainty. The proposed method addresses the challenge of precise positioning in complex urban environments, where global navigation satellite system (GNSS) signals alone do not provide sufficient accuracy. Our approach is to achieve a fusion of Gaussian estimates of the vehicle's current position and orientation, based on observations of the vehicle, and information from the landmark maps. It exploits the Gaussian nature of our data to achieve robust, reliable and efficient positioning, despite the fact that our knowledge of the landmarks may be imprecise and their distribution on the map uneven. It does not rely on any particular type of sensor or vehicle. We have evaluated our method through our custom simulator and verified its effectiveness in obtaining good real-time positional accuracy of the vehicle, even when the GNSS signal is completely lost, even on the scale of a large urban area. a

Fichier principal
Vignette du fichier
landmark_localization_vehits-1.pdf (2.53 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04911247 , version 1 (24-01-2025)

Licence

Identifiants

  • HAL Id : hal-04911247 , version 1

Citer

Noël Nadal, Jean-Marc Lasgouttes, Fawzi Nashashibi. Landmark-based Geopositioning with Imprecise Map. International Conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2025, Apr 2025, Porto, Portugal. ⟨hal-04911247⟩
0 Consultations
0 Téléchargements

Partager

More