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Parsimonious vehicle localization architecture using a generic top-down fusion process

Abstract : In this article, we present a parsimonious high level multi-sensor fusion architecture for robot localization using several types of localization techniques. Operating in a Top-Down mode, the parsimonious localization system based on the use of an existing absolute environment map, selects the most adequate modality in an economical and efficient way. Using a bayesian network associated to an Extended Kalman Filter and referring to contextual information, our proposed method aims to ensure a good localization level by selecting the best technique which responds the best to a fixed objective. Presented results show the parsimonious aspect of our application deploying a robot embedding several sensors (laser range-finder, UWB beacons and a low-cost GPS).
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https://hal.inrae.fr/hal-02609982
Contributor : Migration Irstea Publications <>
Submitted on : Saturday, May 16, 2020 - 6:53:42 PM
Last modification on : Tuesday, September 7, 2021 - 3:54:55 PM

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M. Ladhari, Romain Chapuis, R. Aufrere, C. Debain, L. Malaterre. Parsimonious vehicle localization architecture using a generic top-down fusion process. 22. International conference on information fusion, Jul 2019, Ottawa, Canada. ⟨hal-02609982⟩

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