A Fusion Method for Localization of Intelligent Vehicles in Carparks
With the increasing demand for urban space, more and more multistory carparks are needed as they will play a central role in the city transportation system. An autonomous navigation solution for Intelligent Vehicles in these indoor scenarios is then required. One step to solve this problem is to loc...
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doaj-e2b94e63de1e4f2cbb59cfda19862f662021-03-30T02:31:59ZengIEEEIEEE Access2169-35362020-01-018997299973910.1109/ACCESS.2020.29958659097221A Fusion Method for Localization of Intelligent Vehicles in CarparksDinh-Van Nguyen0https://orcid.org/0000-0001-6925-375XTrung-Kien Dao1https://orcid.org/0000-0002-4726-3858Eric Castelli2https://orcid.org/0000-0003-2978-2619Fawzi Nashashibi3https://orcid.org/0000-0002-4209-1233MICA Institute (HUST–Grenoble INP), Hanoi University of Science and Technology, Hanoi, VietnamMICA Institute (HUST–Grenoble INP), Hanoi University of Science and Technology, Hanoi, VietnamCNRS, Inria, Institute of Engineering, University of Grenoble Alpes, LIG, Grenoble, FranceRITS Team, INRIA Paris, Paris, FranceWith the increasing demand for urban space, more and more multistory carparks are needed as they will play a central role in the city transportation system. An autonomous navigation solution for Intelligent Vehicles in these indoor scenarios is then required. One step to solve this problem is to localize Intelligent Vehicles in these specific environments. However, the lack of GPS due to signal obstruction (multipath, non-line of sight, interference, etc.) appears to be a significant concern for any localization system, let alone indoor ones. Hence, in this paper, a wireless sensor network based approach is proposed to replace the GPS (Global Positioning System) role for indoor environments. In addition, a fusion framework for multiple sensors such as Wi-Fi access points, Inertial Measurement Unit (IMU) or LiDAR is studied. Experiments in almost one-year duration yield a stable result of mean global localization error at 0.5m.https://ieeexplore.ieee.org/document/9097221/Autonomous vehiclefusionGaussian mixtureGPS-denied environmentintelligent vehicleslocalization |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Dinh-Van Nguyen Trung-Kien Dao Eric Castelli Fawzi Nashashibi |
spellingShingle |
Dinh-Van Nguyen Trung-Kien Dao Eric Castelli Fawzi Nashashibi A Fusion Method for Localization of Intelligent Vehicles in Carparks IEEE Access Autonomous vehicle fusion Gaussian mixture GPS-denied environment intelligent vehicles localization |
author_facet |
Dinh-Van Nguyen Trung-Kien Dao Eric Castelli Fawzi Nashashibi |
author_sort |
Dinh-Van Nguyen |
title |
A Fusion Method for Localization of Intelligent Vehicles in Carparks |
title_short |
A Fusion Method for Localization of Intelligent Vehicles in Carparks |
title_full |
A Fusion Method for Localization of Intelligent Vehicles in Carparks |
title_fullStr |
A Fusion Method for Localization of Intelligent Vehicles in Carparks |
title_full_unstemmed |
A Fusion Method for Localization of Intelligent Vehicles in Carparks |
title_sort |
fusion method for localization of intelligent vehicles in carparks |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2020-01-01 |
description |
With the increasing demand for urban space, more and more multistory carparks are needed as they will play a central role in the city transportation system. An autonomous navigation solution for Intelligent Vehicles in these indoor scenarios is then required. One step to solve this problem is to localize Intelligent Vehicles in these specific environments. However, the lack of GPS due to signal obstruction (multipath, non-line of sight, interference, etc.) appears to be a significant concern for any localization system, let alone indoor ones. Hence, in this paper, a wireless sensor network based approach is proposed to replace the GPS (Global Positioning System) role for indoor environments. In addition, a fusion framework for multiple sensors such as Wi-Fi access points, Inertial Measurement Unit (IMU) or LiDAR is studied. Experiments in almost one-year duration yield a stable result of mean global localization error at 0.5m. |
topic |
Autonomous vehicle fusion Gaussian mixture GPS-denied environment intelligent vehicles localization |
url |
https://ieeexplore.ieee.org/document/9097221/ |
work_keys_str_mv |
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1724185014343565312 |