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Conference Papers Year : 2009

Multi-hypothesis Map-Matching using Particle Filtering


This paper describes a new Map-Matching method relying on the use of Particle Filtering. Since this method implements a multi-hypothesis road-tracking strategy, it is able to handle ambiguous situations arising at junctions or when positioning accuracy is low. In this Bayesian framework, map-matching integrity can be monitored using normalized innovation residuals. An interesting characteristic of this method is its efficient implementation since particles are constraint to the road network; the complexity is reduced to one dimension. Experimental tests carried out with real data are finally reported to illustrate the performance of the method in comparison with a ground truth. The current real-time implementation allows map-matching at 100 Hz with confidence indicators which is relevant for many map-aided ADAS applications.
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hal-00445673 , version 1 (11-01-2010)


  • HAL Id : hal-00445673 , version 1


Philippe Bonnifait, Jean Laneurit, Clément Fouque, Gérald Dherbomez. Multi-hypothesis Map-Matching using Particle Filtering. 16th World Congress for ITS Systems and Services, Sep 2009, Stockholm, Sweden. pp.1-8. ⟨hal-00445673⟩
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