Landmark-Based Geopositioning with Imprecise Map

Noël Nadal, Jean-Marc Lasgouttes, Fawzi Nashashibi

2025

Abstract

This paper introduces a novel approach for real-time global positioning of vehicles, leveraging coarse landmark maps with Gaussian position uncertainty. The proposed method addresses the challenge of precise positioning in complex urban environments, where global navigation satellite system (GNSS) signals alone do not provide sufficient accuracy. Our approach is to achieve a fusion of Gaussian estimates of the vehicle’s current position and orientation, based on observations of the vehicle, and information from the landmark maps. It exploits the Gaussian nature of our data to achieve robust, reliable and efficient positioning, despite the fact that our knowledge of the landmarks may be imprecise and their distribution on the map uneven. It does not rely on any particular type of sensor or vehicle. We have evaluated our method through our custom simulator and verified its effectiveness in obtaining good real-time positional accuracy of the vehicle, even when the GNSS signal is completely lost, even on the scale of a large urban area.

Paper Citation

in Harvard Style

Nadal N., Lasgouttes J. and Nashashibi F. (2025). Landmark-Based Geopositioning with Imprecise Map. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 474-481. DOI: 10.5220/0013287300003941

in Bibtex Style

@conference{vehits25,
author={Noël Nadal and Jean-Marc Lasgouttes and Fawzi Nashashibi},
title={Landmark-Based Geopositioning with Imprecise Map},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={474-481},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013287300003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Landmark-Based Geopositioning with Imprecise Map
SN - 978-989-758-745-0
AU - Nadal N.
AU - Lasgouttes J.
AU - Nashashibi F.
PY - 2025
SP - 474
EP - 481
DO - 10.5220/0013287300003941
PB - SciTePress