Parameter estimation using a committee of local expert RBF networks

Panos Liatsis, C. Kammerer, G. Kouremetis

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This research proposes a novel sensor fusion system for lane following in Autonomous Vehicle Navigation. The redundant sensors are a camera positioned in front of the rear view mirror of the vehicle and a map matching system consisting of a DGPS and a Digital Map. A local estimate of the road curvature is obtained with the use of the extended Kalman filter, while the global estimate is obtained from the map matching system. A fuzzy logic "gating network " is used to partition the input space into clusters, each associated with a RBF expert network. Training of the complete system is carried out on-line. Simulation results demonstrate the superior performance of the fusion scheme.

Original languageBritish English
Title of host publication2003 IEEE International Symposium on Intelligent Signal Processing
Subtitle of host publicationFrom Classical Measurement to Computing with Perceptions, WISP 2003 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages161-165
Number of pages5
ISBN (Electronic)0780378644, 9780780378643
DOIs
StatePublished - 2003
Event3rd IEEE International Symposium on Intelligent Signal Processing, WISP 2003 - Budapest, Hungary
Duration: 6 Sep 2003 → …

Publication series

Name2003 IEEE International Symposium on Intelligent Signal Processing: From Classical Measurement to Computing with Perceptions, WISP 2003 - Proceedings

Conference

Conference3rd IEEE International Symposium on Intelligent Signal Processing, WISP 2003
Country/TerritoryHungary
CityBudapest
Period6/09/03 → …

Keywords

  • Autonomous vehicle guidance
  • Committee of local experts
  • Parameter estimation
  • Sensor fusion

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