Real-Time Implementation of GIS-Based Localization System for Intelligent Vehicl
Philippe Bonnifait, Maged Jabbour, and Gérald Dherbomez
EURASIP Journal on Embedded Systems, vol. 2007, special issue "Embedded Systems for Intelligent Vehicles", 2007.
This paper presents a loosely coupled fusion approach that merges GPS data, dead-reckoned sensors, and GIS (geographical information system) data. The GPS latency is compensated for by the DR sensors and the use of an xPPS signal. The fusion of the estimate with the map data is spatial-triggered, while the fusion with the GPS is time-triggered. We present a strategy that relies on pose tracking which is reinitialized when GPS data become incoherent. Particular attention is given to the representation of the road map and to the management of a cache memory for efficiency purposes. We report experiments carried out with our equipped car and a GIS whose characteristics are well adapted to embedded constraints. This research has been carried out within the framework of the European FP6 Integrated Project CVIS, and more specifically, within the framework of the POMA Sub-project activities.
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