Fusión de sensores para la localización robusta de vehículos autónomos en áreas urbanas

  1. Kerman Viana 1
  2. Mikel Diez 1
  3. Asier Zubizarreta 1
  1. 1 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

Book:
XLII Jornadas de Automática: libro de actas, Castellón, 1 a 3 de septiembre de 2021

Publisher: Universitat Jaume I ; Servizo de Publicacións ; Universidade da Coruña ; Comité Español de Automática

ISBN: 978-84-9749-804-3

Year of publication: 2021

Pages: 309-316

Congress: Jornadas de Automática (42. 2021. Castellón)

Type: Conference paper

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Abstract

Localization in dense urban areas may be difficult, as GPS signal usually gets blocked by buildings or tunnels. Therefore, autonomous vehicles need to implement alternatives for those circumstances with a fault-tolerant localization structure. This is an area of great interest that most works address by combining duplicationcomparison techniques and the use of belief functions and alternative localization algorithms such as map-matching or visual odometry. This paper proposes a localization framework for dense urban areas that includes both a robust fault-tolerant algorithm capable of determining the reliability of every position estimation, and a computationally low demanding map matching algorithm as an accurate alternative localization strategy. Validation on simulation environment has proved that the proposed approach is functional.

Data source: Dialnet