相关论文: Vehicle Local Position Estimation System
In this work, we have developed a robust lane detection and departure warning technique. Our system is based on single camera sensor. For lane detection a modified Inverse Perspective Mapping using only a few extrinsic camera parameters and…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…
We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…
In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural…
The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Camera relocalization has various applications in autonomous driving. Previous camera pose regression models consider only ideal scenarios where there is little environmental perturbation. To deal with challenging driving environments that…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
This work presents the development of a lane detection system aimed at assisting the driving of conventional and autonomous vehicles. The system was implemented using traditional computer vision techniques, focusing on robustness and…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…