In this paper, we studied a SLAM method for vector-based road structure mapping using multi-beam LiDAR. We proposed to use the polyline as the primary mapping element instead of grid cell or point cloud, because the vector-based representation is precise and lightweight, and it can directly generate vector-based High-Definition (HD) driving map as demanded by autonomous driving systems. We explored: 1) the extraction and vectorization of road structures based on local probabilistic fusion. 2) the efficient vector-based matching between frames of road structures. 3) the loop closure and optimization based on the pose-graph. In this study, we took a specific road structure, the road boundary, as an example. We applied the proposed matching method in three different scenes and achieved the average absolute matching error of 0.07 m. We further applied the vector-based mapping system to a road with the length of 860 meters and achieved an average global accuracy of 0.466 m without the aid of GPS.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Automatic Vector-based Road Structure Mapping Using Multi-beam LiDAR


    Contributors:
    He, Xudong (author) / Zhao, Junqiao (author) / Sun, Lu (author) / Huang, Yewei (author) / Zhang, Xinglian (author) / Li, Jun (author) / Ye, Chen (author)


    Publication date :

    2018-11-01


    Size :

    3086608 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Automatic Calibration for Road Side Lidar and Camera Using Planar Target

    Wang, Qiuyuan / Wang, Yafei / Zhang, Yuchao et al. | British Library Conference Proceedings | 2021


    Automatic Calibration for Road Side Lidar and Camera Using Planar Target

    Wang, Qiuyuan / Wang, Yafei / Zhang, Yuchao et al. | British Library Conference Proceedings | 2021


    Automatic Calibration for Road Side Lidar and Camera Using Planar Target

    Wang, Qiuyuan / Wang, Yafei / Zhang, Yuchao et al. | British Library Conference Proceedings | 2021


    Automatic Calibration for Road Side Lidar and Camera Using Planar Target

    Yin, Chengliang / Wang, Qiuyuan / Wang, Yafei et al. | SAE Technical Papers | 2021


    Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners

    Chen, Feiyi / Zhang, Shuyang / Xie, Xupeng et al. | IEEE | 2022