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Poster Abstract: State Estimation and Sensor Fusion for Autonomous Driving in Mixed-Traffic Urban Environments

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6 Author(s)
Adamey, E. ; Electr. & Comput. Eng. Dept., Ohio State Univ., Columbus, OH, USA ; Basciftci, Y.O. ; Gong, P. ; Kurt, A.
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This poster investigates sensory data processing, filtering and sensor fusion methods for autonomous vehicles operating in real-life, urban environments with human and machine drivers, and pedestrians. Extended Kalman Filters were used to develop decentralized data fusion algorithms for communicating vehicles, Particle Filters were improved by assigning trust/confidence values in order to overcome faulty/compromised sensors, and the computational cost of particle filters were distributed by parallelizing the load using the developed Shared-Memory Systematic Resampling algorithm.

Published in:

Cyber-Physical Systems (ICCPS), 2012 IEEE/ACM Third International Conference on

Date of Conference:

17-19 April 2012

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