Particle Filter-based Position Estimation in Road Networks using Digital Elevation Models

Christian Mandel, Tim Laue

In: Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2010) October 18-22 Taipei Taiwan Seiten 5744-5749 IEEE 2010.


Nowadays, the Global Positioning System (GPS) can be considered as being the de-facto standard for localization in road networks, delivering a reasonable precision at most places and being available through a huge variety of devices. Nevertheless, if signal reception is disturbed, no position estimates can be computed anymore. In this paper, we present an approach for localization in road networks which is based on a particle filter computing estimates using only basic environmental information: the road network’s structure and its height profile. The approach is demonstrated in experiments of an electrical wheelchair driving through a small town.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence