Kichun Jo

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filter with a single process model cannot guarantee the accuracy of localization under various driving conditions, because the single vehicle model does not cover all driving situations. Therefore, we present a position estimation algorithm based on an interacting multiple model (IMM) filter that uses two kinds of vehicle models: a kinematic vehicle model(More)
—This paper presents a Monte Carlo localization algorithm for an autonomous car based on an integration of multiple sensors data. The sensor system is composed of onboard motion sensors, a low-cost GPS receiver, a precise digital map, and multiple cameras. Data from the onboard motion sensors, such as yaw rate and wheel speeds, are used to predict the(More)