Localisation sur carte 3D

Clément Fouque (1) , Philippe Bonnifait (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

In this paper, we propose a tightly-coupled map-matching algorithm without explicit road selection stage. By combining a geometrical and a topological approach, multi-hypothesis road tracking is achieved using a constraint Rao-Blackwellised particle filter that tightly merges raw GNSS measurements --Pseudo-ranges and Dopplers-- with a 3D navigable road-map.

Domaines: Automatique / Robotique

Clément Fouque, Philippe Bonnifait. Localisation sur carte 3D. CoGIST, 2009, France. pp.1. ⟨hal-00445300⟩