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Conference papers

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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Submitted on : Saturday, May 16, 2020 - 6:53:42 PM
Last modification on : Wednesday, September 28, 2022 - 3:14:27 PM


  • HAL Id : hal-02609982, version 1
  • IRSTEA : PUB00063856
  • WOS : 000567728800243



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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