NDLI: A Multiple-Hypothesis Map-Matching Method Suitable for Weighted and Box-Shaped State Estimation for Localization

Content Provider	IEEE Xplore Digital Library
Author	Abdallah, F. Nassreddine, G. Denoeux, T.
Copyright Year	2000
Abstract	The goal of map-matching algorithms is to identify the road taken by a vehicle and to compute an estimate of the vehicle position on that road using a digital map. In this paper, a map-matching algorithm based on interval analysis and the belief function theory is proposed. The method combines the outputs from existing bounded-error estimation techniques with piecewise rectangular roads that are selected using evidential reasoning. A set of candidate roads is first defined at each time step using the topology of the map and a similarity criterion, and a mass function on the set of candidate roads is computed. An overall estimate of the vehicle position is then derived after the most probable candidate road has been selected. This method allows multiple road junction hypotheses to efficiently be handled and can cope with missing data. In addition, the implementation of the method is quite simple, because it is based on geometrical properties of boxes and rectangular road segments. Experiments with simulated and real data demonstrate the ability of this method to handle junction situations and to compute an accurate estimate of the vehicle position.
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	1495
Ending Page	1510
Page Count	16
File Size	940076
File Format	PDF
ISSN	15249050
Volume Number	12
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Roads Path planning Position measurement Algorithm design and analysis Topology State estimation Sensor fusion multisensor fusion Bounded-error estimation Dempster–Shafer theory evidential reasoning interval analysis map matching (MM) multiple-hypothesis technique (MHT)
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

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