Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Pattern Recognition - 31st DAGM Symposium, Proceedings |
| Seiten | 61-70 |
| Seitenumfang | 10 |
| Publikationsstatus | Veröffentlicht - 2009 |
| Veranstaltung | 31st Annual Symposium of the Deutsche Arbeitsgemeinschaft fur Mustererkennung, DAGM 2009 - Jena, Deutschland Dauer: 9 Sept. 2009 → 11 Sept. 2009 |
Publikationsreihe
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Band | 5748 LNCS |
| ISSN (Print) | 0302-9743 |
| ISSN (elektronisch) | 1611-3349 |
Abstract
Accurate and reliable localization is an important requirement for autonomous driving. This paper investigates an asymmetric model for global mapping and localization in large outdoor scenes. In the first stage, a mobile mapping van scans the street environment in full 3D, using high accuracy and high resolution sensors. From this raw data, local descriptors are extracted in an offline process and stored in a global map. In the second stage, vehicles, equipped with simple, inaccurate sensors are assumed to be able to recover part of these descriptors which allows them to determine their global position. The focus of this paper is on the investigation of local pole patterns. A descriptor is proposed which is tolerant with regard to missing data, and performance and scalability are considered. For the experiments, a large, dense outdoor LiDAR scan with a total length of 21.7 km is used.
ASJC Scopus Sachgebiete
- Mathematik (insg.)
- Theoretische Informatik
- Informatik (insg.)
- Allgemeine Computerwissenschaft
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Pattern Recognition - 31st DAGM Symposium, Proceedings. 2009. S. 61-70 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Band 5748 LNCS).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Global localization of vehicles using local pole patterns
AU - Brenner, Claus
PY - 2009
Y1 - 2009
N2 - Accurate and reliable localization is an important requirement for autonomous driving. This paper investigates an asymmetric model for global mapping and localization in large outdoor scenes. In the first stage, a mobile mapping van scans the street environment in full 3D, using high accuracy and high resolution sensors. From this raw data, local descriptors are extracted in an offline process and stored in a global map. In the second stage, vehicles, equipped with simple, inaccurate sensors are assumed to be able to recover part of these descriptors which allows them to determine their global position. The focus of this paper is on the investigation of local pole patterns. A descriptor is proposed which is tolerant with regard to missing data, and performance and scalability are considered. For the experiments, a large, dense outdoor LiDAR scan with a total length of 21.7 km is used.
AB - Accurate and reliable localization is an important requirement for autonomous driving. This paper investigates an asymmetric model for global mapping and localization in large outdoor scenes. In the first stage, a mobile mapping van scans the street environment in full 3D, using high accuracy and high resolution sensors. From this raw data, local descriptors are extracted in an offline process and stored in a global map. In the second stage, vehicles, equipped with simple, inaccurate sensors are assumed to be able to recover part of these descriptors which allows them to determine their global position. The focus of this paper is on the investigation of local pole patterns. A descriptor is proposed which is tolerant with regard to missing data, and performance and scalability are considered. For the experiments, a large, dense outdoor LiDAR scan with a total length of 21.7 km is used.
UR - http://www.scopus.com/inward/record.url?scp=70350459273&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-03798-6_7
DO - 10.1007/978-3-642-03798-6_7
M3 - Conference contribution
AN - SCOPUS:70350459273
SN - 3642037976
SN - 9783642037979
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 61
EP - 70
BT - Pattern Recognition - 31st DAGM Symposium, Proceedings
T2 - 31st Annual Symposium of the Deutsche Arbeitsgemeinschaft fur Mustererkennung, DAGM 2009
Y2 - 9 September 2009 through 11 September 2009
ER -