Multisensorial data fusion for global vehicle and obstacles absolute positioning

Driving assistance is a popular research topic. Generally, two informations are necessary for a good driving: "where am I?", "where are dangerous obstacles on the road?". An approach which can precisely localize the vehicle and obstacles on the road is presented in this paper. He...

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Bibliographic Details
Published inIEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683) pp. 138 - 143
Main Authors Laneurit, J., Blanc, C., Chapuis, R., Trassoudaine, L.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Costs
Filtering
Global Positioning System
Laser radar
Layout
Nonlinear filters
Road vehicles
Sensor systems
Vehicle driving
Wheels
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Summary:Driving assistance is a popular research topic. Generally, two informations are necessary for a good driving: "where am I?", "where are dangerous obstacles on the road?". An approach which can precisely localize the vehicle and obstacles on the road is presented in this paper. Here, data fusion from proprioceptive and exteroceptive sensors like odometer, GPS, LIDAR, and vision as well as the knowledge of the road map allow this localization. This system is fully operational and has been tested in Clermont Ferrand city. Localization accuracy already reached, is a decimetric precision on lateral vehicle position and a metric precision on longitudinal vehicle position.
ISBN:9780780378483
0780378482
DOI:10.1109/IVS.2003.1212898