Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle

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    Abstract

    The problem of updating the global position of an autonomous vehicle is considered. An iterative procedure is proposed to fit a map to a set of noisy measurements. The procedure is inspired by a non-parametric procedure for probability density function mode searching. We show how this could be used to solve the global position update problem in an efficient and robust way. The simple procedure combines the a priori knowledge from the known map of the environment, the extracted information from calibrated camera images and the information from the vehicle wheels rotation measurements. Because it is very simple the procedure is appropriate to be performed in real-time.
    Original languageEnglish
    Title of host publicationProceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000
    Subtitle of host publicationUniversity of Twente, Netherlands, 24-26 June 2002
    EditorsJ. van Amerongen, B. Jonker, P.P.L Regtien, S. Stramigioli
    Place of PublicationEnschede, Netherlands
    PublisherDrebbel Institute for Mechatronics
    Pages643-651
    Number of pages9
    ISBN (Print)9789036517669
    Publication statusPublished - Jun 2002
    Event8th Mechatronics Forum International Conference, MECHATRONICS 2002 - Enschede, Netherlands
    Duration: 24 Jun 200226 Jun 2002
    Conference number: 8

    Conference

    Conference8th Mechatronics Forum International Conference, MECHATRONICS 2002
    Abbreviated titleMechatronics 2002
    CountryNetherlands
    CityEnschede
    Period24/06/0226/06/02

    Fingerprint

    Vehicle wheels
    Sensors
    Probability density function
    Cameras

    Cite this

    Zivkovic, Z., Schoute, A., & van der Heijden, F. (2002). Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle. In J. van Amerongen, B. Jonker, P. P. L. Regtien, & S. Stramigioli (Eds.), Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000: University of Twente, Netherlands, 24-26 June 2002 (pp. 643-651). Enschede, Netherlands: Drebbel Institute for Mechatronics.
    Zivkovic, Zoran ; Schoute, Albert ; van der Heijden, Ferdinand. / Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle. Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000: University of Twente, Netherlands, 24-26 June 2002. editor / J. van Amerongen ; B. Jonker ; P.P.L Regtien ; S. Stramigioli. Enschede, Netherlands : Drebbel Institute for Mechatronics, 2002. pp. 643-651
    @inproceedings{3beee11afe2f4c5d8604f463ee343c83,
    title = "Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle",
    abstract = "The problem of updating the global position of an autonomous vehicle is considered. An iterative procedure is proposed to fit a map to a set of noisy measurements. The procedure is inspired by a non-parametric procedure for probability density function mode searching. We show how this could be used to solve the global position update problem in an efficient and robust way. The simple procedure combines the a priori knowledge from the known map of the environment, the extracted information from calibrated camera images and the information from the vehicle wheels rotation measurements. Because it is very simple the procedure is appropriate to be performed in real-time.",
    author = "Zoran Zivkovic and Albert Schoute and {van der Heijden}, Ferdinand",
    year = "2002",
    month = "6",
    language = "English",
    isbn = "9789036517669",
    pages = "643--651",
    editor = "{van Amerongen}, J. and B. Jonker and P.P.L Regtien and S. Stramigioli",
    booktitle = "Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000",
    publisher = "Drebbel Institute for Mechatronics",

    }

    Zivkovic, Z, Schoute, A & van der Heijden, F 2002, Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle. in J van Amerongen, B Jonker, PPL Regtien & S Stramigioli (eds), Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000: University of Twente, Netherlands, 24-26 June 2002. Drebbel Institute for Mechatronics, Enschede, Netherlands, pp. 643-651, 8th Mechatronics Forum International Conference, MECHATRONICS 2002, Enschede, Netherlands, 24/06/02.

    Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle. / Zivkovic, Zoran; Schoute, Albert; van der Heijden, Ferdinand.

    Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000: University of Twente, Netherlands, 24-26 June 2002. ed. / J. van Amerongen; B. Jonker; P.P.L Regtien; S. Stramigioli. Enschede, Netherlands : Drebbel Institute for Mechatronics, 2002. p. 643-651.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    AU - Schoute, Albert

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    N2 - The problem of updating the global position of an autonomous vehicle is considered. An iterative procedure is proposed to fit a map to a set of noisy measurements. The procedure is inspired by a non-parametric procedure for probability density function mode searching. We show how this could be used to solve the global position update problem in an efficient and robust way. The simple procedure combines the a priori knowledge from the known map of the environment, the extracted information from calibrated camera images and the information from the vehicle wheels rotation measurements. Because it is very simple the procedure is appropriate to be performed in real-time.

    AB - The problem of updating the global position of an autonomous vehicle is considered. An iterative procedure is proposed to fit a map to a set of noisy measurements. The procedure is inspired by a non-parametric procedure for probability density function mode searching. We show how this could be used to solve the global position update problem in an efficient and robust way. The simple procedure combines the a priori knowledge from the known map of the environment, the extracted information from calibrated camera images and the information from the vehicle wheels rotation measurements. Because it is very simple the procedure is appropriate to be performed in real-time.

    M3 - Conference contribution

    SN - 9789036517669

    SP - 643

    EP - 651

    BT - Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000

    A2 - van Amerongen, J.

    A2 - Jonker, B.

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    ER -

    Zivkovic Z, Schoute A, van der Heijden F. Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle. In van Amerongen J, Jonker B, Regtien PPL, Stramigioli S, editors, Proceedings of the 8th Mechatronics Forum International Conference, Mechatronics 2000: University of Twente, Netherlands, 24-26 June 2002. Enschede, Netherlands: Drebbel Institute for Mechatronics. 2002. p. 643-651