An Adaptive Multisensor Fusion for Intelligent Vehicle Localization

Localization is a basic technology for intelligent vehicle (IV), which is usually carried out by fusing multiple sensors. In order to achieve robust and accurate localization results, a novel adaptive multisensor fusion method is proposed. For each sensor, every measurement is identified by an indicator, which is used to recognize whether the measurement has useful information to improve the localization performance. A robust localization model of IV is then developed by using a variational Bayesian (VB) approach. Simulations and experiments using a real IV are used to demonstrate the potential and effectiveness of the proposed method.