Integrity of laser-based feature extraction and data association

Mathieu Joerger; Michael Jamoom; Matthew Spenko; Boris Pervan

doi:10.1109/PLANS.2016.7479746

Integrity of laser-based feature extraction and data association

Mathieu Joerger, Michael Jamoom, Matthew Spenko, Boris Pervan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Scopus citations

Abstract

In this paper, a new integrity risk evaluation method is developed and tested for laser and radar-based navigation algorithms using feature extraction (FE) and data association (DA). This work is intended for safety-critical autonomous vehicle navigation. FE and DA are two pre-estimator measurement processing steps that aim at repeatedly and consistently identifying landmarks in the environment. A major risk for safety in FE and DA is caused by incorrect associations (mistaking one landmark for another). To assess this risk, a criterion is first introduced at FE: it establishes the minimum normalized separation between landmarks ensuring that they can be reliably, quantifiably distinguished. Then, an innovation-based DA process is designed, which provides the means to evaluate the probability of incorrect associations while considering all potential measurement permutations. These algorithms are analyzed and tested, showing the impact of incorrect associations on safety risk.

Original language	English (US)
Title of host publication	Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	557-571
Number of pages	15
ISBN (Electronic)	9781509020423
DOIs	https://doi.org/10.1109/PLANS.2016.7479746
State	Published - May 26 2016
Externally published	Yes
Event	IEEE/ION Position, Location and Navigation Symposium, PLANS 2016 - Savannah, Georgia Duration: Apr 11 2016 → Apr 14 2016

Publication series

Name	Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016

Conference

Conference	IEEE/ION Position, Location and Navigation Symposium, PLANS 2016
Country	Georgia
City	Savannah
Period	4/11/16 → 4/14/16

Keywords

autonomous vehicle
data association
integrity
navigation safety
SLAM

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering
Instrumentation

Access to Document

10.1109/PLANS.2016.7479746

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Cite this

Joerger, M., Jamoom, M., Spenko, M., & Pervan, B. (2016). Integrity of laser-based feature extraction and data association. In Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016 (pp. 557-571). [7479746] (Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PLANS.2016.7479746

Integrity of laser-based feature extraction and data association. / Joerger, Mathieu; Jamoom, Michael; Spenko, Matthew; Pervan, Boris.

Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 557-571 7479746 (Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Joerger, M, Jamoom, M, Spenko, M & Pervan, B 2016, Integrity of laser-based feature extraction and data association. in Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016., 7479746, Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Institute of Electrical and Electronics Engineers Inc., pp. 557-571, IEEE/ION Position, Location and Navigation Symposium, PLANS 2016, Savannah, Georgia, 4/11/16. https://doi.org/10.1109/PLANS.2016.7479746

Joerger M, Jamoom M, Spenko M, Pervan B. Integrity of laser-based feature extraction and data association. In Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 557-571. 7479746. (Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016). https://doi.org/10.1109/PLANS.2016.7479746

Joerger, Mathieu ; Jamoom, Michael ; Spenko, Matthew ; Pervan, Boris. / Integrity of laser-based feature extraction and data association. Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 557-571 (Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016).

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