Coherent road maps are a prerequisite for autonomous navigation. In case of an unknown environment, grid map and SLAM techniques are widely used. This paper takes a novel approach to vision based mapping of road markings by registration of local occupancy gridmaps for map stitching. We show that with reasonably accurate ego motion measurements, seamless global maps can be constructed from local grid maps. The approach is evaluated on real world data obtained from an autonomous model racing car.
Submap-based SLAM for road markings
2015 IEEE Intelligent Vehicles Symposium (IV) ; 1393-1398
2015-06-01
774543 byte
Conference paper
Electronic Resource
English
Submap-Based SLAM for Road Markings
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