Intelligent Vehicles are robotic systems that perceive the driving environment to assist the driver in safe vehicle operation by providing pertinent information or by controlling directly the vehicle. In this perception process, global localization is useful to retrieve contextual information often stored in a geographical database. Global Navigation Satellite Systems (GNSS) - like GPS, which is an affordable technology currently - provide global localization on the scale of the planet. A natural GNSS receiver uses only pseudo-ranges and Doppler measurements to compute an estimate of its location in ECEF coordinates, whatever the mobile: a pedestrian, plane, boat, car, etc. For ground localization, satellite outages and multi-path can occur frequently, particularly in urban areas. The quality of the positioning service therefore changes a lot depending on the local context.

• Mobile Robotics, Intelligent Vehicles
• Advanced Driver Assistance System,
• Robotic Perception, Obstacle Detection, Drivable Space
• Data and Multisensor Fusion
• Road Vehicles Localization

1. GNSS (GPS, Galileo)
2. GIS and Navigable Maps
3. Map-matching
4. Natural landmarks
5. Integrity monitoring, Fault Detection, Identification, Adaptation

• State Observers for handling uncertainties

1. Bayesian (EKF, UKF, PF, IMM, etc.)
2. Set-membership (Set Inversion, Interval Analysis, CSP, BPF)
3. Belief Theory