Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Spatial Data Handling and GIS - 14th International Symposium on Spatial Data Handling, SDH 2010 |
| Pages | 169-181 |
| Number of pages | 13 |
| Publication status | Published - 6 Mar 2012 |
| Event | 14th International Symposium on Spatial Data Handling, SDH 2010 - Hong Kong, China Duration: 26 May 2010 → 28 May 2010 |
Publication series
| Name | Lecture Notes in Geoinformation and Cartography |
|---|---|
| ISSN (Print) | 1863-2351 |
Abstract
In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted polelike structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
ASJC Scopus subject areas
- Engineering(all)
- Civil and Structural Engineering
- Social Sciences(all)
- Geography, Planning and Development
- Earth and Planetary Sciences(all)
- Earth-Surface Processes
- Earth and Planetary Sciences(all)
- Computers in Earth Sciences
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Advances in Spatial Data Handling and GIS - 14th International Symposium on Spatial Data Handling, SDH 2010. 2012. p. 169-181 (Lecture Notes in Geoinformation and Cartography).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Evaluation of automatically extracted landmarks for future driver assistance systems
AU - Brenner, Claus
AU - Hofmann, Sabine
PY - 2012/3/6
Y1 - 2012/3/6
N2 - In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted polelike structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
AB - In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted polelike structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
UR - http://www.scopus.com/inward/record.url?scp=84885204168&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-25926-5_13
DO - 10.1007/978-3-642-25926-5_13
M3 - Conference contribution
AN - SCOPUS:84885204168
SN - 9783642259258
T3 - Lecture Notes in Geoinformation and Cartography
SP - 169
EP - 181
BT - Advances in Spatial Data Handling and GIS - 14th International Symposium on Spatial Data Handling, SDH 2010
T2 - 14th International Symposium on Spatial Data Handling, SDH 2010
Y2 - 26 May 2010 through 28 May 2010
ER -