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Conference Papers Year : 2009

Localisation sur carte 3D


In this paper, we propose a tightly-coupled map-matching algorithm without explicit road selection stage. By combining a geometrical and a topological approach, multi-hypothesis road tracking is achieved using a constraint Rao-Blackwellised particle filter that tightly merges raw GNSS measurements --Pseudo-ranges and Dopplers-- with a 3D navigable road-map.
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hal-00445300 , version 1 (08-01-2010)


  • HAL Id : hal-00445300 , version 1


Clément Fouque, Philippe Bonnifait. Localisation sur carte 3D. CoGIST, 2009, France. pp.1. ⟨hal-00445300⟩
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