Robust cooperative localization in a dynamic environment using factor graphs and probability data association filter

Abstract

Autonomous vehicles operating in dynamic environments rely on precise localization. In this paper we present a novel approach for cooperative localization of vehicular systems and an infrastructure RADAR which is resilient against outliers generated from the RADAR. The problem of cooperative localization is represented as a factor graph, where interrelated… (More)
DOI: 10.23919/ICIF.2017.8009654

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