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Agrégation de données décentralisées pour la localisation multi-véhicules

Abstract : The technological advances in wireless communication opened up new perspectives to enhance the existing driver assistance systems. It has been shown that the exchange of absolute and relative positioning information between the vehicles of the same group improves the localization precision of the whole group. This is called cooperative localization. The presented work is part of this framework and introduces a distributed approach wish combines the data provided by the sensors of all the group vehicles to obtain the most accurate estimation of their pose while minimizing the quantity of exchanger data over the communication network. The principle of the proposed approach is that each vehicle uses its own sensors to maintain an estimation of the group state and sends it to the other vehicles. The fusion of the received stats with the built one gives the estimation the global state of the group wish summarize the sensor date coming from all its members. The proposed approach has been tested and validated by simulations and real experiments with a group of road vehicles.
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Submitted on : Tuesday, August 21, 2012 - 12:00:37 PM
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  • HAL Id : tel-00724489, version 1


Nadir Karam. Agrégation de données décentralisées pour la localisation multi-véhicules. Automatique / Robotique. Université Blaise Pascal - Clermont-Ferrand II, 2009. Français. ⟨NNT : 62T1071932HJQ⟩. ⟨tel-00724489⟩



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