相关论文: A New Vehicle Localization Scheme Based on Combine…
According to the requirement of general static obstacle detection, this paper proposes a compact vectorization representation approach of local static environments for unmanned ground vehicles. At first, by fusing the data of LiDAR and IMU,…
Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO\&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts…
Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…
6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…
High-accurate localization is crucial for the safety and reliability of autonomous driving, especially for the information fusion of collective perception that aims to further improve road safety by sharing information in a communication…
Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…
Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…
Future autonomous vehicles (AVs) will use a variety of sensors that generate a vast amount of data. Naturally, this data not only serves self-driving algorithms; but can also assist other vehicles or the infrastructure in real-time…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
Marking-level high-definition maps (HD maps) are of great significance for autonomous vehicles (AVs), especially in large-scale, appearance-changing scenarios where AVs rely on markings for localization and lanes for safe driving. In this…
Vehicle localization in highway tunnels is a challenging issue for autonomous vehicle navigation. Since GPS signals from satellites cannot be received inside a highway tunnel, map-aided localization is essential. However, the environment…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
Autonomous Vehicles (AVs) are transforming the future of transportation through advances in intelligent perception, decision-making, and control systems. However, their success is tied to one core capability, reliable object detection in…
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…
Navigation services utilized by autonomous vehicles or ordinary users require the availability of detailed information about road-related objects and their geolocations, especially at road intersections. However, these road intersections…
Vehicles with driving automation are increasingly being developed for deployment across the world. However, the onboard sensing and perception capabilities of such automated or autonomous vehicles (AV) may not be sufficient to ensure safety…
The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…
This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…
Embedded with advanced sensors, cameras and processors, the emerging automated driving vehicles are capable of sensing the environment and conducting automobile operation, paving the way to modern intelligent transportation systems (ITS)…
In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…