Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present VIZARD, a visual localization system for urban outdoor environments. By combining a local localization algorithm with the use of multi-session maps, a high localization recall can be achieved across vastly different appearance conditions. The fusion of the visual localization constraints with wheel-odometry in a state estimation framework further guarantees smooth and accurate pose estimates. In an extensive experimental evaluation on several hundreds of driving kilometers in challenging urban outdoor environments, we analyze the recall and accuracy of our localization system, investigate its key parameters and boundary conditions, and compare different types of feature descriptors. Our results show that VIZARD is able to achieve nearly 100% recall with a localization accuracy below 0.5m under varying outdoor appearance conditions, including at night-time.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments


    Beteiligte:
    Burki, Mathias (Autor:in) / Schaupp, Lukas (Autor:in) / Dymczyk, Marcin (Autor:in) / Dube, Renaud (Autor:in) / Cadena, Cesar (Autor:in) / Siegwart, Roland (Autor:in) / Nieto, Juan (Autor:in)


    Erscheinungsdatum :

    2019-06-01


    Format / Umfang :

    1923134 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Visual-Based Localization for Autonomous Vehicles in Simulated Environments

    Caldeira, Tiago / Santos-Victor, Jose / Lima, Pedro U. | IEEE | 2023



    Vision-based Navigation System for Autonomous Urban Transport Vehicles in Outdoor Environments

    Sotelo, M. A. / Rodriguez, F. J. / Magdalena, L. et al. | British Library Conference Proceedings | 2003



    Reliable communication in mine environments for autonomous vehicles

    Tomasi, Alessandro | BASE | 2016

    Freier Zugriff