UniMSF: A Unified Multi-Sensor Fusion Framework for Intelligent Transportation System Global Localization

IEEE International Conference on Intelligent Transportation Systems (ITSC), pp. 2200–2207

Abstract

Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such as global navigation satellite system (GNSS) and 4D-radar can provide scalable and reliable global localization. Nevertheless, multi-sensor fusion encounters challenges including heterogeneity and time-varying uncertainty in measurements. Consequently, developing a reliable and unified multi-sensor framework remains challenging. In this paper, we introduce UniMSF, a comprehensive multi-sensor fusion localization framework for ITS, utilizing factor graphs. By integrating a multi-sensor fusion front-end, alongside outlier detection&noise model estimation, and a factor graph optimization back-end, this framework accomplishes efficient fusion and ensures accurate localization for ITS. Specifically, in the multi-sensor fusion front-end module, we tackle the measurement heterogeneity among different modality sensors and establish effective measurement models. Reliable outlier detection and data-driven online noise estimation methods ensure that back-end optimization is immune to interference from outlier measurements. In addition, integrating multi-sensor observations via factor graph optimization offers the advantage of “plug and play”. Notably, our framework features high modularity and is seamlessly adapted to various sensor configurations. We demonstrate the effectiveness of the proposed framework through real vehicle tests by tightly integrating GNSS pseudorange and carrier phase information with IMU, and 4D-radar.

Authors 9

1. Wei Liu

   Tongji University

   Affiliation as printed

   School of Automotive Studies, Tongji University,Shanghai,China,201804

2. Jiaqi Zhu

   Tongji University

   Affiliation as printed

   School of Automotive Studies, Tongji University,Shanghai,China,201804

3. Guirong Zhuo

   Tongji University

   Affiliation as printed

   School of Automotive Studies, Tongji University,Shanghai,China,201804

4. Wufei Fu

   Tongji University

   Affiliation as printed

   School of Automotive Studies, Tongji University,Shanghai,China,201804

5. Zonglin Meng

   University of California, Los Angeles

   Affiliation as printed

   University of California, Los Angeles,Department of Civil and Environmental Engineering,Los Angeles,CA,U.S.A

6. Yishi Lu
   Affiliation as printed

   Shanghai Gongji Technology Co., Ltd,Shanghai,China,201804

7. You Li

   Wuhan University

   Affiliation as printed

   Wuhan University,State Key Laboratory of Surveying Mapping and Remote Sensing,Wuhan,China

8. Yi He

   Wuhan University of Technology

   Affiliation as printed

   Intelligent Transportation System Research Center, Wuhan University of Technology,Wuhan,China

9. Lu Xiong

   Tongji University

   Affiliation as printed

   School of Automotive Studies, Tongji University,Shanghai,China,201804