NDLI: Localization with multi-modal vision measurements in limited GPS environments using Gaussian Sum Filters

Content Provider	IEEE Xplore Digital Library
Author	Schoenberg, J.R. Campbell, M. Miller, I.
Copyright Year	2009
Description	Author affiliation: Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USA (Schoenberg, J.R.; Campbell, M.; Miller, I.)
Abstract	A Gaussian Sum Filter (GSF) with component extended Kalman filters (EKF) is proposed as an approach to localize an autonomous vehicle in an urban environment with limited GPS availability. The GSF uses vehicle relative vision-based measurements of known map features coupled with inertial navigation solutions to accomplish localization in the absence of GPS. The vision-based measurements are shown to have multi-modal measurement likelihood functions that are well represented as a weighted sum of Gaussian densities and the GSF is ideally suited to accomplish recursive Bayesian state estimation for this problem. A sequential merging technique is used for Gaussian mixture condensation in the posterior density approximation after fusing multi-modal measurements in the GSF to maintain mixture size over time. The representation of the posterior density with the GSF is compared over a common dataset against a benchmark particle filter solution. The Expectation-Maximization (EM) algorithm is used offline to determine the representational efficiency of the particle filter in terms of an effective number of Gaussian densities. The GSF with vision-based vehicle relative measurements is shown to remain converged using 37 minutes of recorded data from the Cornell University DARPA Urban Challenge (DUC) autonomous vehicle in an urban environment that includes a 32 minute GPS blackout.
Starting Page	1423
Ending Page	1428
File Size	357845
Page Count	6
File Format	PDF
ISBN	9781424427888
ISSN	10504729
DOI	10.1109/ROBOT.2009.5152558
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-05-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Remotely operated vehicles Mobile robots Density measurement Particle filters Inertial navigation Bayesian methods State estimation Merging Size measurement
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Control and Systems Engineering Artificial Intelligence Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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