We introduce a method that uses a single camera to localize a vehicle within a pre-constructed map consisting of a voxel occupancy grid and road-line marker positions. Sophisticated mapping hardware is capable of creating high-accuracy 3D maps of road environments, but localizing a vehicle within such maps is one of the challenges at the forefront of automated driving. A solution which is robust to dynamic environments, while using only inexpensive sensors, is a difficult problem. In addition, maps that enable precise localization consume a lot of data which is impractical for the expansive environments encountered in real-world road networks. We show how using the area of edge regions shared between rendered views of a compact voxel map and in-vehicle camera images can be coupled with non-linear optimization methods to determine the camera position and pose.


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    Titel :

    Monocular localization within sparse voxel maps


    Beteiligte:
    Wong, David (Autor:in) / Kawanishi, Yasutomo (Autor:in) / Deguchi, Daisuke (Autor:in) / Ide, Ichiro (Autor:in) / Murase, Hiroshi (Autor:in)


    Erscheinungsdatum :

    2017-06-01


    Format / Umfang :

    867215 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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