Vehicle localization along a previously driven route using an image database
In most autonomous driving applications, such as parking and commuting, a vehicle follows a previously taken route, or almost the same route. In this paper, we propose a method to localize a vehicle along a previously driven route using images. The proposed method consists of two stages: offline cre...
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| Main Authors: | , |
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| Format: | text |
| Language: | English |
| Published: |
Institutional Knowledge at Singapore Management University
2013
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| Subjects: | |
| Online Access: | https://ink.library.smu.edu.sg/sis_research/8077 https://ink.library.smu.edu.sg/context/sis_research/article/9080/viewcontent/Vehicle_Localization_Along_a_Previously_Driven_Route_Using_an_Image_Database.pdf |
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| Institution: | Singapore Management University |
| Language: | English |
| Summary: | In most autonomous driving applications, such as parking and commuting, a vehicle follows a previously taken route, or almost the same route. In this paper, we propose a method to localize a vehicle along a previously driven route using images. The proposed method consists of two stages: offline creation of a database, and online localization. In the offline stage, a database is created from images that are captured when the vehicle drives a route for the first time. The database consists of images, 3D positions of feature points estimated by structure-from-motion, and a topological graph. In the online stage, the method first identifies the database image that is most similar to the current image by topometric localization, which considers topological information on a metric scale. The vehicle poses are then estimated from the 3D-2D correspondences of matching feature points between the current image and the identified database image. In an experiment, we estimated vehicle poses using images captured in an indoor parking lot. |
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