Future driver assistance systems will require highly accurate positioning. One way to achieve this is by using on-board sensors to measure the relative location of landmarks for which the absolute coordinates are known. This paper investigates the use of mobile laser scanning for the fully automatic generation of such landmark maps. Starting from a 21.7 km scanned trajectory with a total of 70.7 million scanned points, we extract pole-like structures, such as signposts, traffic and street lights, and tree trunks. The location of all those structures then forms our landmark map to be used later by onboard systems for positioning. The focus of this paper is on the extraction and quality assessment of the features, including a description of different types of error sources and approaches to reduce false positives among the extracted poles.
Quality assessment of automatically generated feature maps for future driver assistance systems
2009
4 Seiten, 8 Bilder, 1 Tabelle, 10 Quellen
Conference paper
English
Evaluation of automatically extracted landmarks for future driver assistance systems
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