@inproceedings{2dc0adfe52b146e2b87980cb4970335e,
title = "Adaptive Kalman Filter with Linear Equality Road Constraints for Autonomous Vehicle Localization",
abstract = "This paper proposes a positioning method using an adaptive Kalman filter (AKF) with linear equality road constraints. The AKF algorithm used in vehicle localization can adaptively adjust the covariance matrices of both the system noise and the measurement noise based on the innovation sequence. Linear equality road constraints incorporated into AKF architecture can restrict the unconstrained position estimates to the constraint set via projection method and then give the final positioning results. Finally., two simulation cases based on segmented straight roads are provided to show the effectiveness of the proposed method.",
author = "Yanjie Xu and Xingqi Wang and Chaoyang Jiang",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020 ; Conference date: 13-12-2020 Through 15-12-2020",
year = "2020",
month = dec,
day = "13",
doi = "10.1109/ICARCV50220.2020.9305368",
language = "English",
series = "16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1341--1346",
booktitle = "16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020",
address = "United States",
}