Feature-refined box particle filtering for autonomous vehicle localisation with OpenStreetMap

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Peng Wang, Lyudmila Mihaylova, Philippe Bonnifait, Philippe Xu, Jianwen Jiang

Published: 01 Jan 2021, Last Modified: 07 Oct 2025Eng. Appl. Artif. Intell. 2021EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•The FRBPF is proposed to deal with OpenStreetMap and sensor data uncertainties.•A contraction algorithm is developed to reduce the volume of box particles.•Theoretical proofs about the features-refined contractions are derived.•A weight balance strategy is designed to improve the performance of FRBPF.