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About Me

PhD, expert in cooperative localization of autonomous vehicles

"Collaborative strategies for a maximum efficiency and reliability"

Khaoula Lassoued

  • Robotic-Embedded Systems
  • Autonomous Vehicles
  • Cooperative Localization
  • Data Fusion
  • PhD-Engineer

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Description

The proposed cooperative localization strategy is based on Set-membership method, where autonomous vehicles share their estimated GNSS errors, Dead Reckoning (DR), IMU measurements and positions in order to improve their absolute and relative positioning.
The top view of the trajectories and the estimated position boxes of both vehicles are presented.

A low-cost U-blox 4T GPS receiver providing pseudo-ranges was used in each vehicle. A Polarx Septentrio was used in RTK mode to obtain the ground truth data and a CAN-bus gateway to get the DR measurements.

Uploaded by Khaoula Lassoued on 2016-01-20.