A Monte Carlo particle filter formulation for mapless-based localization

Przewodowski, Andre; Osório, Fernando Santos

doi:10.1109/iv51971.2022.9827064

2022 IEEE Intelligent Vehicles Symposium (IV) 2022

DOI: 10.1109/iv51971.2022.9827064

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A Monte Carlo particle filter formulation for mapless-based localization

Andre Przewodowski

Fernando Santos Osório

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2024

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Cited by 2 publications

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Robust Visual Localization System With HD Map Based on Joint Probabilistic Data Association

Gu,

Cheng,

Wang

et al. 2024

IEEE Robot. Autom. Lett.

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Robust Visual Localization System With HD Map Based on Joint Probabilistic Data Association

Gu,

Cheng,

Wang

et al. 2024

IEEE Robot. Autom. Lett.

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Global Localization using OpenStreetMap and Elevation Offsets

Przewodowski,

Santos Osório,

Grassi Junior

2024

JBCS

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Localization is a critical component in autonomous vehicle navigation stacks. While GNSS-only localization cannot be fully reliable and available all the time, localization based on 3D high-definition (HD) maps have to be robust to world changes, which is still a challenging issue. Added to that, in general, HD maps are expensive and difficult to construct and maintain.In this paper, we propose a particle filter-based 2D global pose estimation method that can use the crowdsourced OpenStreetMap (OSM) API, a digital surface map, or both. The main contributions of the proposed approach are: that it is lightweight, does not require the vehicle to map the environment, does not require a GPU (can be used with low-power computing resources), is agnostic to the odometry source, and achieved relatively low position and orientation errors for this localization modality using the KITTI dataset sequences. The proposed method's implementation is open source and is available with the experimental results on our GitHub page.

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A Monte Carlo particle filter formulation for mapless-based localization

Cited by 2 publications

References 10 publications

Robust Visual Localization System With HD Map Based on Joint Probabilistic Data Association

Robust Visual Localization System With HD Map Based on Joint Probabilistic Data Association

Global Localization using OpenStreetMap and Elevation Offsets

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