In cooperative intelligent transportation systems, precise vehicle positioning is a critical requirement that cannot be met by stand-alone Global Positioning Systems (GPSs). This paper proposes a distributed Bayesian data association and localization method, called Implicit Cooperative Positioning with Data Association (ICP-DA, where connected vehicles detect a set of passive features in the driving environment, solve the association task by pairing them with on-board sensor measurements and cooperatively localize the features to enhance the GPS accuracy. Results show that ICP-DA significantly outperforms GPS, with negligible performance loss compared to ICP with perfect data association knowledge.
Precise vehicle positioning by cooperative feature association and tracking in vehicular networks
BRAMBILLA, MATTIA;Gloria Soatti;Monica Nicoli
2018-01-01
Abstract
In cooperative intelligent transportation systems, precise vehicle positioning is a critical requirement that cannot be met by stand-alone Global Positioning Systems (GPSs). This paper proposes a distributed Bayesian data association and localization method, called Implicit Cooperative Positioning with Data Association (ICP-DA, where connected vehicles detect a set of passive features in the driving environment, solve the association task by pairing them with on-board sensor measurements and cooperatively localize the features to enhance the GPS accuracy. Results show that ICP-DA significantly outperforms GPS, with negligible performance loss compared to ICP with perfect data association knowledge.File | Dimensione | Formato | |
---|---|---|---|
CV_2018_SSP.pdf
Accesso riservato
Descrizione: Full paper
:
Publisher’s version
Dimensione
754.81 kB
Formato
Adobe PDF
|
754.81 kB | Adobe PDF | Visualizza/Apri |
CV_2018_SSP_postprint.pdf
accesso aperto
Descrizione: Full paper postprint
:
Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione
359.44 kB
Formato
Adobe PDF
|
359.44 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.