| Title |
Autonomous Ground Vehicle Localization Filter Design Using Landmarks with Non-Unique Features |
| Authors |
김찬영(Chan-Yeong Kim) ; 홍다니엘(Daniel Hong) ; 나원상(Won-Sang Ra) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.11.1486 |
| Keywords |
GNSS-denied environment ; Vision-based localization ; Non-unique features ; Measurement hypotheses |
| Abstract |
This paper investigates the autonomous ground vehicle (AGV) localization filter design problem under GNSS-denied environments. It is assumed that the given landmarks do not have unique features due to the lack of a prior knowledge on them. For such case, the AGV may have difficulties in distinguishing the position measurement of the detected landmark from those of other landmarks with the same feature, hence the conventional localization filters are not applicable. To resolve this technical issue, the localization filter design problem is formulated as a special form of the data association determining whether the detected feature is actually originated from which landmark. The measurement hypotheses generated by landmarks with the same feature are evaluated by the nearest neighbor data association scheme to reduce the computational burden. The position measurement corresponding to the landmark with the most probable hypothesis is used for localization filter. Through the experiments in real-driving condition, it is shown that the proposed method provides satisfactory localization performance in spite of using non-unique landmarks. |