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Accurate Vehicle Positioning on a Numerical Map

International Journal of Control, Automation and Systems v.3 no.1 , 2005년, pp.15 - 31  
Laneurit Jean (LASMEA-UMR 6602 UBP/CVRS Universite Baise Pascal ) ;  Chapuis Roland ( LASMEA-UMR 6602 UBP/CVRS Universite Baise Pascal ) ;  Chausse Fr d ric ( LASMEA-UMR 6602 UBP/CVRS Universite Baise Pascal)
Abstract

Nowadays, the road safety is an important research field. One of the principal research topics in this field is the vehicle localization in the road network. This article presents an approach of multi sensor fusion able to locate a vehicle with a decimeter precision. The different informations used in this method come from the following sensors: a low cost GPS, a numeric camera, an odometer and a steer angle sensor. Taking into account a complete model of errors on GPS data (bias on position and nonwhite errors) as well as the data provided by an original approach coupling a vision algorithm with a precise numerical map allow us to get this precision.

주제어

#Multisensor fusion   #Kalman filter   #GPS   #artificial vision  

참고문헌 (26)

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이 논문을 인용한 문헌 (5)

  1. Park Jong-Jin ; Lee Dong-Hwal ; Kim Su-Yong ; Mun Young-Song 2006. "A Study on the Recognizing Range Expansion Techniques of the Ultrasonic Location Awareness System for the Ubiquitous Computing" 한국통신학회논문지. The Journal of Korea Information and Communications Society. 네트워크 및 서비스, 31(b7): 595~601 
  2. Lee, Dong-Hwal ; Park, Jong-Jin ; Kim, Su-Yong ; Mun, Young-Song ; Lee, Man-Hyung 2006. "A Study on the Application of U-SAT System for the Indoor Positioning Technology of Ubiquitous Computing" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 12(9): 876~882 
  3. Han, Young-Jae ; Park, Choon-Soo ; Lee, Tae-Hyoung ; Kim, Ki-Hwan ; Eun, Jong-Phil 2008. "A Study on Composition of Position Detection System using GPS" 전기전자재료학회논문지 = Journal of the Korean institute of electronic material engineers, 21(2): 151~155 
  4. 2010. "" Journal of mechanical science and technology, 24(1): 343~350 
  5. Yun, Kyong-Han ; Kim, Young-Chol ; Min, Kyung-Deuk ; Byun, Yeun-Sub 2011. "Position and Orientation Estimation of a Maneticalluy Guided-Articulated Vehicle" 전기학회논문지 = The Transactions of the Korean Institute of Electrical Engineers, 60(10): 1915~1923 

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