In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely unexplored. To bridge this gap, we propose a lidar-based localization and mapping (LOAM) system that can exploit the common HD-maps in autonomous driving scenarios. Specifically, we propose a technique to extract information from the drivable area and ground surface height components of the HD-maps to construct 4DOF pose priors. These pose priors are then further integrated into the pose-graph optimization problem to create a globally consistent 3D map. Experiments show that our scheme can significantly improve the global consistency of the map compared to state-of-the-art lidar-only approaches, proven to be a useful technology to enhance the system's robustness, especially in GPS-denied environment. Moreover, our work also serves as a first step towards longterm navigation of robots in familiar environment, by updating a map. In autonomous driving this could enable updating the HD-maps without sourcing a new from a third party company, which is expensive and introduces delays from change in the world to updated map.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    HD-Maps as Prior Information for Globally Consistent Mapping in GPS-Denied Environments


    Beteiligte:
    Ali, Waqas (Autor:in) / Jensfelt, Patric (Autor:in) / Nguyen, Thien-Minh (Autor:in)


    Erscheinungsdatum :

    24.09.2024


    Format / Umfang :

    5871673 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Mapping GPS-denied aquatic environments

    Codd-Downey, Robert / Jenkin, Michael | IEEE | 2016


    Fast, On-Line Learning of Globally Consistent Maps

    Duckett, T. / Marsland, S. / Shapiro, J. | British Library Online Contents | 2002


    Globally Consistent Range Scan Alignment for Environment Mapping

    Lu, F. / Milios, E. | British Library Online Contents | 1997


    Mapping objects using unmanned aerial vehicle data in GPS-denied environments

    BEHZADAN AMIR H | Europäisches Patentamt | 2025

    Freier Zugriff

    Mapping Objects Using Unmanned Aerial Vehicle Data in GPS-Denied Environments

    BEHZADAN AMIR H | Europäisches Patentamt | 2023

    Freier Zugriff