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Robust Vehicle-Infrastructure Localization Using Factor Graph and Probability Data Association
Feihu Zhang,Mingyong Liu,Dhiraj Gulati,Alois Knoll 한국통신학회 2018 Journal of communications and networks Vol.20 No.4
This paper presents a robust graph-based optimizationframework for vehicle-infrastructure cooperative localization. Compared to the state-of-the-art approaches, the proposed solutionkeeps high performance in presence of unknown data associationenvironments. In this paper, the association probability of eachmeasurement is calculated, and then assigned to the correspondingedges on the graph, in which the nonlinear least square method isutilized to optimize the state. Thus the proposed approach presentsa robust framework in the presence of high association uncertaintyduring vehicle-infrastructure cooperative localization, in which thecorresponding weights from outliers are lower than the true vehicles. The experimental results demonstrate the good robustness insimulated data.