Localisation sur carte 3D
Résumé
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.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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