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Advances in Multi-Sensor Data Fusion for Ubiquitous Positioning: Novel Approaches for Robust Localization and Mapping

Robertson, Patrick and Röckl, Matthias and Angermann, Michael (2010) Advances in Multi-Sensor Data Fusion for Ubiquitous Positioning: Novel Approaches for Robust Localization and Mapping. In: Tagungsband VDE Kongress 2010. VDE. VDE Kongress 2010, 8.-9. Nov. 2010, Leipzig, Deutschland.

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Official URL: http://www.vde.de/de/Veranstaltungen/VDE-Kongress_10/Seiten/Homepage.aspx

Abstract

In this paper we argue why robust positioning in transportation applications is best achieved by multi-sensor fusion. Furthermore, we suggest that sensor fusion processing be performed in a probabilistic fashion and that in the majority of relevant practical applications one should draw on utility theory in order to make decisions that will be of the highest expected benefit given the current circumstances. Simply stated, it is a fact that all sensors are prone to errors or failure. Only if we model these errors correctly, and account for all possible failure modes, are we able to implement systems that reap the benefits of multi-sensor fusion: increased reliability and a valuable indication of the currently achieved ac-curacy. We provide examples for cooperative automotive applications that apply utility-based information dissemina-tion in a vehicle-to-vehicle communications setting as well as an outlook to collaborative Simultaneous Localization and Mapping (SLAM).

Item URL in elib:https://elib.dlr.de/66210/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Advances in Multi-Sensor Data Fusion for Ubiquitous Positioning: Novel Approaches for Robust Localization and Mapping
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Robertson, PatrickPatrick.Robertson (at) dlr.deUNSPECIFIED
Röckl, MatthiasMatthias.Roeckl (at) dlr.deUNSPECIFIED
Angermann, MichaelMichael.Angermann (at) dlr.deUNSPECIFIED
Date:8 November 2010
Journal or Publication Title:Tagungsband VDE Kongress 2010
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:VDE
Status:Published
Keywords:Navigation, SLAM, decision theory, cooperative driver assistance, vehicle-to-vehicle communications, multi-sensor fusion
Event Title:VDE Kongress 2010
Event Location:Leipzig, Deutschland
Event Type:national Conference
Event Dates:8.-9. Nov. 2010
Organizer:VDE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrerassistenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Robertson, Dr.-Ing. Patrick
Deposited On:12 Nov 2010 08:53
Last Modified:31 Jul 2019 19:29

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