@inproceedings{494753a97fce4c93944bbd545afcbd6b,
title = "Robust parameter estimation in lane following using a committee of local expert networks",
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.",
keywords = "Digital cameras, Global Positioning System, Mirrors, Mobile robots, Navigation, Parameter estimation, Remotely operated vehicles, Robustness, Sensor fusion, Sensor systems",
author = "P. Liatsis and C. Kammerer",
note = "Publisher Copyright: {\textcopyright} 2003 Faculty of Electrical Engineering and Co.; 4th EURASIP Conference Focused on Video / Image Processing and Multimedia Communications, EC-VIP-MC 2003 ; Conference date: 02-07-2003 Through 05-07-2003",
year = "2003",
doi = "10.1109/VIPMC.2003.1220456",
language = "British English",
series = "Proceedings EC-VIP-MC 2003 - 4th EURASIP Conference Focused on Video / Image Processing and Multimedia Communications",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "161--168",
editor = "Mislav Grgic and Sonja Grgic",
booktitle = "Proceedings EC-VIP-MC 2003 - 4th EURASIP Conference Focused on Video / Image Processing and Multimedia Communications",
address = "United States",
}