Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250065
M. Gunia, Adrian Zinke, N. Joram, F. Ellinger
In recent years, localization research could be split into two distinct areas: developing dedicated hardware or utilizing communication infrastructure. As an example, radar systems, belonging to the first category, offer high accuracy, but suffer from big costs and long developing times. Bluetooth or WLAN are examples for the second category. These systems are usually very cheap, since they are reusing infrastructure, with the drawback of low accuracy. Recently, the first commercial Ultra-Wideband IC became available. Many research is devoted with regard to these chips. These modules bridge the opposite requirements for low costs and high accuracy. Another technology with similar objectives, which is barely been acknowledged, are phase measurements. This paper presents the steps taken to build a fully working phase-based positioning system utilizing off-the-shelf components and introduces the necessary background knowledge. Specifically, the hardware and software design is described.
{"title":"Setting up a phase-based positioning system using off-the-shelf components","authors":"M. Gunia, Adrian Zinke, N. Joram, F. Ellinger","doi":"10.1109/WPNC.2017.8250065","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250065","url":null,"abstract":"In recent years, localization research could be split into two distinct areas: developing dedicated hardware or utilizing communication infrastructure. As an example, radar systems, belonging to the first category, offer high accuracy, but suffer from big costs and long developing times. Bluetooth or WLAN are examples for the second category. These systems are usually very cheap, since they are reusing infrastructure, with the drawback of low accuracy. Recently, the first commercial Ultra-Wideband IC became available. Many research is devoted with regard to these chips. These modules bridge the opposite requirements for low costs and high accuracy. Another technology with similar objectives, which is barely been acknowledged, are phase measurements. This paper presents the steps taken to build a fully working phase-based positioning system utilizing off-the-shelf components and introduces the necessary background knowledge. Specifically, the hardware and software design is described.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125143860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250061
Marco Cimdins, H. Hellbrück
Device-free localization (DFL) systems detect and track persons without devices that participate in the localization process. A person moving within a target area affects the electromagnetic field that is measured by received signal strength (RSS) values. Consequently for DFL systems modeling of RSS is important and still an open issue. In this paper, we develop a simple model for prediction of RSS values in a setup with transmitter and receiver devices, a person and multipath propagation. We design and implement the model as a superposition of both, knife-edge diffraction to account for the change made by the person, and, propagation effects such as multipath propagation that result in reflection and path loss including the antenna characteristics. We evaluate our model in comparison with real measurements in various setups with and without multipath propagation. We achieve an accuracy that is close to our hardware limitations, which is the resolution of the measured RSS values of the receiver.
{"title":"Modeling received signal strength and multipath propagation effects of moving persons","authors":"Marco Cimdins, H. Hellbrück","doi":"10.1109/WPNC.2017.8250061","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250061","url":null,"abstract":"Device-free localization (DFL) systems detect and track persons without devices that participate in the localization process. A person moving within a target area affects the electromagnetic field that is measured by received signal strength (RSS) values. Consequently for DFL systems modeling of RSS is important and still an open issue. In this paper, we develop a simple model for prediction of RSS values in a setup with transmitter and receiver devices, a person and multipath propagation. We design and implement the model as a superposition of both, knife-edge diffraction to account for the change made by the person, and, propagation effects such as multipath propagation that result in reflection and path loss including the antenna characteristics. We evaluate our model in comparison with real measurements in various setups with and without multipath propagation. We achieve an accuracy that is close to our hardware limitations, which is the resolution of the measured RSS values of the receiver.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130017934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250055
David Gómez-Casco, J. López-Salcedo, G. Seco-Granados
This paper addresses the problem of finding the optimal non-coherent detector or Post Detection Integration (PDI) technique to acquire weak signals in the context of High- Sensitivity Global Navigation Satellite System (HS-GNSS) receivers. This detector is derived using the Generalized Likelihood Ratio Test (GLRT) in the presence of data bits and variations in the carrier phase. The resulting detector is difficult to implement in practice because the amplitude of the signal must be known a priori. Two approximations of the resulting detector, which depend on the signal-to-noise ratio, are proposed, namely the Non-coherent PDI (NPDI) and non-quadratic NPDI (NPDInq) techniques. From this result, we prove that in general the NPDInq technique is the best option to detect weak signals in HS-GNSS receivers. In addition, a new statistical characterization of the NPDInq technique is proposed, which improves the approach used in the literature by applying the central limit theorem.
{"title":"Optimal fractional non-coherent detector for high-sensitivity GNSS receivers robust against residual frequency offset and unknown bits","authors":"David Gómez-Casco, J. López-Salcedo, G. Seco-Granados","doi":"10.1109/WPNC.2017.8250055","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250055","url":null,"abstract":"This paper addresses the problem of finding the optimal non-coherent detector or Post Detection Integration (PDI) technique to acquire weak signals in the context of High- Sensitivity Global Navigation Satellite System (HS-GNSS) receivers. This detector is derived using the Generalized Likelihood Ratio Test (GLRT) in the presence of data bits and variations in the carrier phase. The resulting detector is difficult to implement in practice because the amplitude of the signal must be known a priori. Two approximations of the resulting detector, which depend on the signal-to-noise ratio, are proposed, namely the Non-coherent PDI (NPDI) and non-quadratic NPDI (NPDInq) techniques. From this result, we prove that in general the NPDInq technique is the best option to detect weak signals in HS-GNSS receivers. In addition, a new statistical characterization of the NPDInq technique is proposed, which improves the approach used in the literature by applying the central limit theorem.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122919536","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250050
Sander Bastiaens, H. Steendam
Recently, an estimation algorithm for the angle-of- arrival (AoA) for visible light positioning (VLP) was investigated [1]. In this paper, the authors considered an aperture-based receiver, and estimated for each light beacon the incident angle and polar angle between the beacon and the receiver using an iterative maximum likelihood (ML) based algorithm. For the iterative ML algorithm to converge, an accurate initial estimate was required. To obtain this initial estimate, a coarse ad hoc estimation algorithm for the incident angle was proposed. However, the proposed estimator for the incident angle was not able to deliver sufficiently accurate estimates for a wide range of incident angles, resulting in slow convergence of the iterative algorithm and large positioning errors. In this paper, we propose three novel estimators for the incident angle that are not only more accurate than the coarse estimator proposed in [1], but also have a wider estimation range.
{"title":"Coarse estimation of the incident angle for VLP with an aperture-based receiver","authors":"Sander Bastiaens, H. Steendam","doi":"10.1109/WPNC.2017.8250050","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250050","url":null,"abstract":"Recently, an estimation algorithm for the angle-of- arrival (AoA) for visible light positioning (VLP) was investigated [1]. In this paper, the authors considered an aperture-based receiver, and estimated for each light beacon the incident angle and polar angle between the beacon and the receiver using an iterative maximum likelihood (ML) based algorithm. For the iterative ML algorithm to converge, an accurate initial estimate was required. To obtain this initial estimate, a coarse ad hoc estimation algorithm for the incident angle was proposed. However, the proposed estimator for the incident angle was not able to deliver sufficiently accurate estimates for a wide range of incident angles, resulting in slow convergence of the iterative algorithm and large positioning errors. In this paper, we propose three novel estimators for the incident angle that are not only more accurate than the coarse estimator proposed in [1], but also have a wider estimation range.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134478022","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250063
M. Abid, Valérie Renaudin, T. Robert, Y. Aoustin, E. Carpentier
Pedestrian dead reckoning (PDR) is one of the most employed strategies to process inertial signals collected with a handheld device for autonomous indoor positioning. This strategy is based on step length models that usually combine step characteristics with some physiological parameters. These models are calibrated with experimental data for each user. However, many physiological conditions are affecting the walking gait even for steady walking. Therefore, frequent calibration is needed to cope with walking pattern variations. Moreover, PDR models are not adapted to high walking velocities and to the specific walking patterns of some populations like elderly people and pathological cases. In light of these limitations, the modeling of human walking, which considers the induced arm swinging behavior, is needed for improving self-contained inertial indoor navigation. In this paper, a human-like walking model is developed in order to represent and study the correlations between the hand acceleration and gait characteristics. Experimental data were collected from motion capture experiments on one healthy subject in order to validate the model. Results show that the model fitted to the test subject reproduces the walking features found in experiments, as well as the same tendencies in function of the walking velocity.
{"title":"A human-like walking gait simulator for estimation of selected gait parameters","authors":"M. Abid, Valérie Renaudin, T. Robert, Y. Aoustin, E. Carpentier","doi":"10.1109/WPNC.2017.8250063","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250063","url":null,"abstract":"Pedestrian dead reckoning (PDR) is one of the most employed strategies to process inertial signals collected with a handheld device for autonomous indoor positioning. This strategy is based on step length models that usually combine step characteristics with some physiological parameters. These models are calibrated with experimental data for each user. However, many physiological conditions are affecting the walking gait even for steady walking. Therefore, frequent calibration is needed to cope with walking pattern variations. Moreover, PDR models are not adapted to high walking velocities and to the specific walking patterns of some populations like elderly people and pathological cases. In light of these limitations, the modeling of human walking, which considers the induced arm swinging behavior, is needed for improving self-contained inertial indoor navigation. In this paper, a human-like walking model is developed in order to represent and study the correlations between the hand acceleration and gait characteristics. Experimental data were collected from motion capture experiments on one healthy subject in order to validate the model. Results show that the model fitted to the test subject reproduces the walking features found in experiments, as well as the same tendencies in function of the walking velocity.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131345695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250064
V. Sark, N. Maletic, J. G. Terán, E. Grass
In this paper an approach for implementation of a time of flight ranging methods on a software defined radio (SDR) platform is presented. The proposed approach is intended to be implemented in software running on a host computer without changing the existing hardware of the SDR platform. This approach can be easily extended for use in positioning methods. Using this approach a two way ranging (TWR) method is implemented on a SDR platform. All of the necessary processing is performed using software written in C/C++. This implementation was tested in the 2.4/5 GHz ISM band, with a channel bandwidth of 25 MHz. With this approach a nanosecond precision time of arrival estimation is achieved. This precision is needed in time of flight based ranging and positioning applications. A ranging accuracy better than 1 meter was obtained and demonstrated using the proposed approach. The developed TWR system performs 100 distance estimations per second. Nevertheless, with the processing power of the currently available general purpose processors a distance estimation rate of over 500 estimations per second can be achieved. The proposed approach can be also used in positioning scenarios, by performing TWR with multiple anchor nodes.
{"title":"An approach for implementation of ranging and positioning methods on a software defined radio","authors":"V. Sark, N. Maletic, J. G. Terán, E. Grass","doi":"10.1109/WPNC.2017.8250064","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250064","url":null,"abstract":"In this paper an approach for implementation of a time of flight ranging methods on a software defined radio (SDR) platform is presented. The proposed approach is intended to be implemented in software running on a host computer without changing the existing hardware of the SDR platform. This approach can be easily extended for use in positioning methods. Using this approach a two way ranging (TWR) method is implemented on a SDR platform. All of the necessary processing is performed using software written in C/C++. This implementation was tested in the 2.4/5 GHz ISM band, with a channel bandwidth of 25 MHz. With this approach a nanosecond precision time of arrival estimation is achieved. This precision is needed in time of flight based ranging and positioning applications. A ranging accuracy better than 1 meter was obtained and demonstrated using the proposed approach. The developed TWR system performs 100 distance estimations per second. Nevertheless, with the processing power of the currently available general purpose processors a distance estimation rate of over 500 estimations per second can be achieved. The proposed approach can be also used in positioning scenarios, by performing TWR with multiple anchor nodes.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"288 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122086441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250071
Chansoo Kim, K. Jo, Benazouz Bradai, M. Sunwoo
A highly autonomous driving (HAD) map can improve the perception and localization performance of autonomous cars. However, when the HAD map cannot represent the real world precisely as a result of changes in the environment, reliability of autonomous cars may be decreased; therefore, it is essential that up-to-date map information is maintained. In order to keep the HAD map up-to-date, new landmark features must be updated continuously. This paper focuses on new landmark feature mapping in the HAD map based on multiple cars equipped with low-cost sensors. The features can be accurately mapped in the HAD map by matching between sensor information and the HAD map information, and by integrating multiple features estimated from various cars. The proposed algorithm is composed of three steps: data acquisition, new landmark feature map estimation using the HAD map, and feature integration. The algorithm is evaluated by means of certain simulation scenarios and experiments.
{"title":"Multiple vehicles based new landmark feature mapping for highly autonomous driving map","authors":"Chansoo Kim, K. Jo, Benazouz Bradai, M. Sunwoo","doi":"10.1109/WPNC.2017.8250071","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250071","url":null,"abstract":"A highly autonomous driving (HAD) map can improve the perception and localization performance of autonomous cars. However, when the HAD map cannot represent the real world precisely as a result of changes in the environment, reliability of autonomous cars may be decreased; therefore, it is essential that up-to-date map information is maintained. In order to keep the HAD map up-to-date, new landmark features must be updated continuously. This paper focuses on new landmark feature mapping in the HAD map based on multiple cars equipped with low-cost sensors. The features can be accurately mapped in the HAD map by matching between sensor information and the HAD map information, and by integrating multiple features estimated from various cars. The proposed algorithm is composed of three steps: data acquisition, new landmark feature map estimation using the HAD map, and feature integration. The algorithm is evaluated by means of certain simulation scenarios and experiments.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125538163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250081
I. Z. Ibragimov, Ilya M. Afanasyev
This paper presents investigation of various ROS- based visual SLAM methods and analyzes their feasibility for a mobile robot application in homogeneous indoor environment. We compare trajectories obtained by processing different sensor data (conventional camera, LIDAR, ZED stereo camera and Kinect depth sensor) during the experiment with UGV prototype motion. These trajectories were computed by monocular ORB-SLAM, monocular DPPTAM, stereo ZedFu (based on ZED camera data) and RTAB-Map (based on MS Kinect 2.0 depth sensor data), and verified by LIDAR-based Hector SLAM and a tape measure as the ground truth.
{"title":"Comparison of ROS-based visual SLAM methods in homogeneous indoor environment","authors":"I. Z. Ibragimov, Ilya M. Afanasyev","doi":"10.1109/WPNC.2017.8250081","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250081","url":null,"abstract":"This paper presents investigation of various ROS- based visual SLAM methods and analyzes their feasibility for a mobile robot application in homogeneous indoor environment. We compare trajectories obtained by processing different sensor data (conventional camera, LIDAR, ZED stereo camera and Kinect depth sensor) during the experiment with UGV prototype motion. These trajectories were computed by monocular ORB-SLAM, monocular DPPTAM, stereo ZedFu (based on ZED camera data) and RTAB-Map (based on MS Kinect 2.0 depth sensor data), and verified by LIDAR-based Hector SLAM and a tape measure as the ground truth.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"69 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114023595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250062
Reza Zandian, U. Witkowski
The large bandwidth of the UWB (UltraWideband) communication systems, makes it ideal for time of travel localization techniques such as ToA (Time of Arrival) and TDoA (Time Difference of Arrival). The techniques based on ToA demand high rate of network traffic which are not suitable for multi-node setups. The TDoA however, addresses this issue, making it possible to have several anchors and nodes at the same time. This paper discusses the two possible setup structures of TDoA technique and provides a comparison of them. The focus of this paper is on the forward TDoA method, which can effectively be used for an unlimited number of robots in the setup with minimum network traffic and high rate of position data updates. A method has been proposed for synchronization of the clocks in anchors based on the Kalman Filter. The positioning algorithm is implemented using the Extended Kalman Filter. The results prove good performance of the method for positioning of large number of robots with accepted level of accuracy and computational effort.
{"title":"Robot self-localization in ultra-wideband large scale multi-node setups","authors":"Reza Zandian, U. Witkowski","doi":"10.1109/WPNC.2017.8250062","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250062","url":null,"abstract":"The large bandwidth of the UWB (UltraWideband) communication systems, makes it ideal for time of travel localization techniques such as ToA (Time of Arrival) and TDoA (Time Difference of Arrival). The techniques based on ToA demand high rate of network traffic which are not suitable for multi-node setups. The TDoA however, addresses this issue, making it possible to have several anchors and nodes at the same time. This paper discusses the two possible setup structures of TDoA technique and provides a comparison of them. The focus of this paper is on the forward TDoA method, which can effectively be used for an unlimited number of robots in the setup with minimum network traffic and high rate of position data updates. A method has been proposed for synchronization of the clocks in anchors based on the Kalman Filter. The positioning algorithm is implemented using the Extended Kalman Filter. The results prove good performance of the method for positioning of large number of robots with accepted level of accuracy and computational effort.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130432495","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/WPNC.2017.8250072
Chansoo Kim, K. Jo, Sungjin Cho, M. Sunwoo
This paper proposes a road surface marking (RSM) mapping process based on an optimal smoothing method using a probing vehicle equipped with high accuracy sensors for the localization of an autonomous vehicle in regions experiencing GPS outages. Since the RSMs in the map can be inferred by the trajectory of the probing vehicle, it is important to estimate the precise trajectory for precise RSM mapping. For the trajectory estimation in GPS outage regions, an optimal smoothing algorithm is applied to the mapping process. The algorithm can estimate trajectories more precisely by integrating future measurements as well as past and present measurements. The RSMs can be estimated by point clouds measured by light detection and ranging (LIDAR) through deskewing, ground extraction, intensity calibration, and data mapping along the trajectory. Finally, the RSM mapping process was evaluated in an experiment on Samsung Street, Seoul, South Korea, which is a high traffic-area with many skyscrapers.
{"title":"Optimal smoothing based mapping process of road surface marking in urban canyon environment","authors":"Chansoo Kim, K. Jo, Sungjin Cho, M. Sunwoo","doi":"10.1109/WPNC.2017.8250072","DOIUrl":"https://doi.org/10.1109/WPNC.2017.8250072","url":null,"abstract":"This paper proposes a road surface marking (RSM) mapping process based on an optimal smoothing method using a probing vehicle equipped with high accuracy sensors for the localization of an autonomous vehicle in regions experiencing GPS outages. Since the RSMs in the map can be inferred by the trajectory of the probing vehicle, it is important to estimate the precise trajectory for precise RSM mapping. For the trajectory estimation in GPS outage regions, an optimal smoothing algorithm is applied to the mapping process. The algorithm can estimate trajectories more precisely by integrating future measurements as well as past and present measurements. The RSMs can be estimated by point clouds measured by light detection and ranging (LIDAR) through deskewing, ground extraction, intensity calibration, and data mapping along the trajectory. Finally, the RSM mapping process was evaluated in an experiment on Samsung Street, Seoul, South Korea, which is a high traffic-area with many skyscrapers.","PeriodicalId":246107,"journal":{"name":"2017 14th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130716448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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