Abstract
This paper addresses an important issue for intelligent transportation system, namely the ability of vehicles to safely and reliably localize themselves within an a priori known road map network. For this purpose, we propose an approach based on hybrid dynamic bayesian networks enabling to implement in a unified framework two of the most successful families of probabilistic model commonly used for localization: linear Kalman filters and Hidden Markov Models. The combination of these two models enables to manage and manipulate multi-hypotheses and multi-modality of observations characterizing Map Matching problems and it improves integrity approach. Another contribution of the paper is a chained-form state space representation of vehicle evolution which permits to deal with non-linearity of the used odometry model. Experimental results, using data from encoders’ sensors, a DGPS receiver and an accurate digital roadmap, illustrate the performance of this approach, especially in ambiguous situations.
Similar content being viewed by others
References
Abbott, E., Powell, D.: Land-vehicle navigation using GPS. Proc. IEEE 87(1), 145–162 (1999)
Bar-Shalom, Y., Li, X.R.: Estimation and Tracking: Principles, Techniques, and Software. Artech House Inc, Boston (1993)
Bernstein, D., Kornhauser, A.: Map matching for personal navigation assistants. In: 77th Annual Meeting. The Transport Research Board, Washinton DC (1993)
Bonnifait, P., Jabbour, M., Cherfaoui, V.: Autonomous navigation in urban areas using GIS-managed information. Int. J. Veh. Auton. Syst. Adv. Autonom. Vehicle Intell. Transport. (Special Issue) 6(1/2), 84–103 (2008)
Castillo, E., José, M.G., Ali, S.H.: Expert Systems and Probabilistic Network Models. Springer, New York Berlin Heidelberg (1997)
Cowell, R.G., Dawid, A.P.: Probabilistic Networks and Expert System. Springer, New York (1999)
Cox, I.J., Leonard, J.J.: Modeling a dynamic environment using a multiple hypothesis approach. Artif. Intell. 66(1), 311–344 (1994)
De Luca, A.D., Oriolo, G., Vendittelli, M.: Control of Wheeled Mobile Robots: An Experimental Overview, vol. 270/2001, pp. 181–226. Springer, Berlin/Heidelberg (2001)
Dissanayake, M.W.M.G., Newman, P., Clark, S., Durrant-Whyte, H.F., Csorba, M.: A solution to the simultaneous localization and map building (SLAM) problem. IEEE Trans. Robot. Autom. 17(3), 229–241 (2001)
Doucet, A.: On sequential simulation-based methods for Bayesian filtering. Technical Report CUED/F-INFENG/TR.310, Department of Engineering, Cambridge University (1998)
El Najjar, M.E., et Bonnifait, Ph.: A road-matching method for precise vehicle localization using Kalman filtering and belief theory. In: Journal of Autonomous Robots, S.I. on Robotics Technologies for Intelligent Vehicles. Kluwer Academic Publishers (2005)
Fabrizi, E., Oriolo, G., Panzieri, S., Ulivi, G.: A KF-based localization algorithm for nonholonomic mobile robots. In: 6th IEEE Mediterranean Conference on Control and Automation, Alghero, I (1998)
Greenfeld, J.: Matching GPS observations to locations on a digital map. In: 81th Annual Meeting of the Transportation Research Board, Washington, DC (2002)
Gustafsson, E., Bergman, N., Forsell, U.: Particles filters for positioning, navigation and tracking. In: IEEE Trans. on Signal Processing. Special issue on Monte Carlo Methods for Statistical Signal Processing, vol. 50 (2002)
Isidori, A.: Nonlinear Control Systems, 2nd edn. Springer (1989)
Jensfelt, P., Kristensen, S.: Active global localisation for a mobile robot using multiple hypothesis tracking. IEEE Trans. Robot. Autom. 17(5), 748–760 (2001)
Kim, S., Kim, J.H.: Adaptive fuzzy-network-based C-measure map-matching algorithm for car navigation system. Proc. IEEE Trans. Ind. Electron. 48(2), 432–441 (2001)
Kim, J.S., Lee, J.H., Kang, T.H., Lee, W.Y., Kim, Y.G.: Node based map matching algorithm for car navigation system. In: Proc. 29th ISATA Symp. Florence, vol. 10, pp. 121–126 (1996)
Murphy, K.P.: Dynamic Bayesian networks: representation, inference and learning. Ph.D. thesis, UC Berkley, Computer Science Division (2002)
Ochieng, W.Y., Quddus, M.A., Noland, R.B.: Map matching in complex urban road networks. Braz. J. Cartogr. (Rev. Bras. Cartogr.) 55(2), 1–18 (2004)
Pearl, J.: Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference, 2nd edn. Publishers, Inc, San Mateo (1988)
Pyo, J.S., Shin, D.H., Sung, T.K.: Development of a map matching method using the multiple hypothesis technique. In: Proc. IEEE conf. Intelligent Transportation Systems, pp. 23–27 (2001)
Quddus, M.A., Ochieng, W.Y., Noland, R.B.: Review of map-matching algorithms for ITS applications. In: 07–2216, 86th Annual Meeting of the Transportation Research Board, 25 Jan. Washington, DC, U.S.A. (2007)
Quddus, A.M., Ochieng, W.Y., Zhao, L., Noland, R.B.: A general map matching algorithm for transport telematics applications. GPS Solutions 7(3), 157–167 (2003)
Samson, C.: Control of chained systems: application to path following and time-varying point stabilization of mobile robot. IEEE Trans. Autom. Control 40(1), 64–77 (1995)
Smaili, C., El Najjar, M.E., Charpillet, F.: A road matching method for precise vehicle localization using hybrid Bayesian network. J. Intell. Transp. Syst. 12(4), 176–188 (2008)
Syed, S., Cannon, M.E.: Fuzzy logic based-map matching algorithm for vehicle navigation system in urban canyons. In: Proc. of the ION National Technical Meeting, San Diego, CA, pp. 982–993 (2004)
Taylor, G., Blewitt, G.: Road reduction filtering using GPS. In: 3th AGILE Conference on Geographic Information Science, Helsinki, pp. 114–120 (2000)
Thrun, S., Fox, D., Burgard, W., Dellaert, F.: Robust Monte-Carlo localisation for mobile robots. J. Art. Intell. (AI) 128(1–2), 99–141 (2001)
Uri, L.: Hybrid bayesian networks for reasoning about complex systems. Ph.D. thesis, Stanford University, Department of Computer Science (2002)
Wan, E.A., Van der Merwe, R.: The unscented Kalman filter for nonlinear estimation. In: Proc. IEEE Symp. Adaptive Systems for Signal Proc. Comm. and Control (AS-SPCC), pp. 153–158. Lake Louise, Alberta, Canada (2000)
Welch, G., Bishop, G.: An introduction to the Kalman filter. Technical Report TR 95–041, University of North Carolina, Department of Computer Science (2004)
Zhao, Y.: Vehicle Location Navigation Systems. Artech House Inc (1997)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Smaili, C., Najjar, M.E.B.E. & Charpillet, F. A Hybrid Bayesian Framework for Map Matching: Formulation Using Switching Kalman Filter. J Intell Robot Syst 74, 725–743 (2014). https://doi.org/10.1007/s10846-013-9844-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-013-9844-4