Real-Time Multisensor Vehicle Localization: A Geographical Information System?Based Approach

摘要

In this article, a localization system for a mobile robot, using a top-down multisensors approach and a map of the environment, is proposed. Popular methods try to optimize a global cost, track multihypothesis, or reduce the problem by using multisensors. These approaches are bottom-up: Each sensor data is analyzed even if it is not relevant [like a global positioning system (GPS) in an indoor environment].