GPS/odometry/map fusion for vehicle positioning using potential function

• Main Authors: Jiang, Rui, Yang, Shuai, Ge, Shuzhi Sam, Liu, Xiaomei, Wang, Han, Lee, Tong Heng
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Digital Maps; GPS
• Online Access: https://hdl.handle.net/10356/138396
• Institution: Nanyang Technological University

In this paper, we present a fusion approach to localize urban vehicles by integrating a visual odometry, a low-cost GPS, and a two-dimensional digital road map. Distinguished from conventional sensor fusion methods, two types of potential functions (i.e. potential wells and potential trenches) are p...