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 languageUndefined
Title of host publication8th Mechatronics Forum Int. Conf.
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)90-365-1767-2
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

Keywords

  • EWI-911
  • METIS-207034
  • IR-56147

Cite this

Zivkovic, Z., Schoute, A. L., & 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.), 8th Mechatronics Forum Int. Conf. (pp. 643-651). Enschede, Netherlands: Drebbel Institute for Mechatronics.
Zivkovic, Z. ; Schoute, Albert L. ; van der Heijden, Ferdinand. / Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle. 8th Mechatronics Forum Int. Conf.. 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.",
keywords = "EWI-911, METIS-207034, IR-56147",
author = "Z. Zivkovic and Schoute, {Albert L.} and {van der Heijden}, Ferdinand",
note = "Imported from DIES",
year = "2002",
month = "6",
language = "Undefined",
isbn = "90-365-1767-2",
pages = "643--651",
editor = "{van Amerongen}, J. and B. Jonker and P.P.L Regtien and S. Stramigioli",
booktitle = "8th Mechatronics Forum Int. Conf.",
publisher = "Drebbel Institute for Mechatronics",

}

Zivkovic, Z, Schoute, AL & 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), 8th Mechatronics Forum Int. Conf.. 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, Z.; Schoute, Albert L.; van der Heijden, Ferdinand.

8th Mechatronics Forum Int. Conf.. 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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T1 - Combining A Priori Knowledge and Sensor Information for Updating the Global Position of an Autonomous Vehicle

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AU - Schoute, Albert L.

AU - van der Heijden, Ferdinand

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PY - 2002/6

Y1 - 2002/6

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.

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KW - METIS-207034

KW - IR-56147

M3 - Conference contribution

SN - 90-365-1767-2

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BT - 8th Mechatronics Forum Int. Conf.

A2 - van Amerongen, J.

A2 - Jonker, B.

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Zivkovic Z, Schoute AL, 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, 8th Mechatronics Forum Int. Conf.. Enschede, Netherlands: Drebbel Institute for Mechatronics. 2002. p. 643-651