The localization of vehicles on roadways without the use of a GPS has been of great interest in recent years and a number of solutions have been proposed for the same. The localization of vehicles has traditionally been divided by their solution approaches into two different categories: global localization which uses feature-vector matching, and local tracking which has been dealt by using techniques like Particle Filtering or Kalman Filtering. This paper proposes a unifying approach that combines the feature-based robustness of global search with the local tracking capabilities of a particle filter. Using feature vectors produced from pitch measurements from Interstate I-80 and US Route 220 in Pennsylvania, this work demonstrates wide area localization of a vehicle with the computational efficiency of local tracking.
- Dynamic Systems and Control Division
Terrain-Aided Localization Using Feature-Based Particle Filtering
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Kadetotad, S, Vemulapalli, PK, Brennan, SN, & Lagoa, C. "Terrain-Aided Localization Using Feature-Based Particle Filtering." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 725-731. ASME. https://doi.org/10.1115/DSCC2011-6025
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