Cooperative localization of vehicles without inter-vehicle measurements
作者： Markus Frohle , Christopher Lindberg , Henk Wymeersch
DOI: 10.1109/WCNC.2018.8377047
关键词:
摘要: While cooperation among vehicles can improve localization, standard communication technologies (e.g., 802.11p) cannot provide reliable range or angle measurements. To allow without explicit inter-vehicle measurements, we propose a cooperative localization method whereby track mobile features in the environment and use associations of to vehicles' accuracy. The proposed algorithm, which scales linearly number quadratically tracked features, shows superior performance compared non-cooperative approach.
chalmers.se
sci-hub.se 参考文章(17)
Ronald P. S. Mahler, Statistical Multisource-Multitarget Information Fusion ,(2007)
Ronald P. S. Mahler, Advances in Statistical Multisource-Multitarget Information Fusion ,(2014)
Franz Hlawatsch, Peter Willett, Paolo Braca, Florian Meyer, Scalable multitarget tracking using multiple sensors: A belief propagation approach international conference on information fusion. pp. 1778- 1785 ,(2015)
Henk Wymeersch, Gabriel Rodrigues de Campos, Paolo Falcone, Lennart Svensson, Erik G. Strom, Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning 2015 International Conference on Computing, Networking and Communications (ICNC). pp. 573- 578 ,(2015) , 10.1109/ICCNC.2015.7069408
Roy L. Streit, Tod E. Luginbuhl, Probabilistic Multi-Hypothesis Tracking ,(1995)
Jason L. Williams, Roslyn A. Lau, Convergence of loopy belief propagation for data association international conference on intelligent sensors, sensor networks and information processing. pp. 175- 180 ,(2010) , 10.1109/ISSNIP.2010.5706750
Henk Wymeersch, Jaime Lien, Moe Z. Win, Cooperative Localization in Wireless Networks Proceedings of the IEEE. ,vol. 97, pp. 427- 450 ,(2009) , 10.1109/JPROC.2008.2008853
Jason L. Williams, Marginal multi-bernoulli filters: RFS derivation of MHT, JIPDA, and association-based member IEEE Transactions on Aerospace and Electronic Systems. ,vol. 51, pp. 1664- 1687 ,(2015) , 10.1109/TAES.2015.130550
B-N Vo, W-K Ma, None, The Gaussian Mixture Probability Hypothesis Density Filter IEEE Transactions on Signal Processing. ,vol. 54, pp. 4091- 4104 ,(2006) , 10.1109/TSP.2006.881190
Jason Williams, Roslyn Lau, Approximate evaluation of marginal association probabilities with belief propagation IEEE Transactions on Aerospace and Electronic Systems. ,vol. 50, pp. 2942- 2959 ,(2014) , 10.1109/TAES.2014.120568