Ego-motion estimation in urban areas

In this contribution an inertial navigation system (INS) for next generation inner-city driver assistance is presented. The INS integrates data from different in-vehicle sensors using a two-staged approach. First, the vehicle's motion is estimated in 2D before the 2D estimates are fused with additional sensor data to obtain reliable 3D positioning. In test drives of several kilometers the system exhibited a high relative positioning accuracy. The high accuracy in conjunction with the fact that the used sensors are already built in many today's production vehicles renders the presented INS attractive for driver assistance systems.

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