|Accurate Vehicle Positioning on a Numerical Map
Jean Laneurit, Roland Chapuis, and Frédéric Chausse
International Journal of Control, Automation, and Systems, vol. 3, no. 1, pp.15-31, 2005
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 multisensor 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.
Keyword : Multisensor fusion , Kalman filter, GPS, artificial vision.