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首页> 外文会议>2012 IEEE International Conference on Vehicular Electronics and Safety >Multi-vehicle cooperative localization using indirect vehicle-to-vehicle relative pose estimation
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Multi-vehicle cooperative localization using indirect vehicle-to-vehicle relative pose estimation

机译：基于间接车对车相对姿态估计的多车协同定位

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摘要

Vehicle localization (ground vehicles) is a fundamental task for intelligent vehicle systems; this paper deals with the issue of multi-vehicle cooperative localization which can bring performance improvement over traditional single vehicle localization. To tackle the problem of vehicle-to-vehicle (V2V) relative pose estimation that is essential for realizing cooperative localization, an indirect V2V relative pose estimation (InDV2VRPE) method is proposed, which overcomes the disadvantages of direct V2V relative pose estimation methods. As part of this InDV2VRPE method, a new map merging method is described. Cooperative localization is realized using this InDV2VRPE method. Real-data experiments demonstrate that the proposed cooperative localization method can work effectively and improve localization accuracy, especially for heterogeneous vehicle systems.
机译：车辆本地化（地面车辆）是智能车辆系统的基本任务。本文讨论了多车协作本地化的问题，该问题可以带来比传统单车本地化更好的性能。为了解决实现协同定位必不可少的车辆对车辆相对姿态估计问题，提出了一种间接V2V相对姿态估计方法，克服了直接V2V相对姿态估计方法的弊端。作为此InDV2VRPE方法的一部分，描述了一种新的地图合并方法。使用此InDV2VRPE方法可以实现协作定位。实际数据实验表明，所提出的协同定位方法可以有效地工作并提高定位精度，特别是对于异构车辆系统。

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