2018/03/21 by Anweshan Das, Das, Anweshan, Gijs Dubbelman +1
Engineering · #Robotics and Sensor-Based Localization #Indoor and Outdoor Localization Technologies #Autonomous Vehicle Technology and Safety
paper · pdf · doi:10.48550/arxiv.1803.07838
In this work, we research and evaluate multiple pose-graph fusion strategies\nfor vehicle localization. We focus on fusing a single absolute localization\nsystem, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1\nHertz, with a single relative localization system, i.e. vehicle odometry at 25\nHertz. Our evaluation is based on 180 Km long vehicle trajectories that are\nrecorded in highway, urban and rural areas, and that are accompanied with\npost-processed Real Time Kinematic GNSS as ground truth. The results exhibit a\nsignificant reduction in the error's standard deviation by 18% but the bias in\nthe error is unchanged, when compared to non-fused GNSS. We show that the\nunderlying principle is the fact that errors in GNSS readings are highly\ncorrelated in time. This causes a bias that cannot be compensated for by using\nthe relative localization information from the odometry, but it can reduce the\nstandard deviation of the error.\n