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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sg-smu-ink.sis_research-90802023-09-07T08:11:42Z Vehicle localization along a previously driven route using an image database KUME, Hideyuki SUPPE, Arne SUPPE, Arne 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. 2013-05-01T07:00:00Z text application/pdf 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 http://creativecommons.org/licenses/by-nc-nd/4.0/ Research Collection School Of Computing and Information Systems eng Institutional Knowledge at Singapore Management University Databases and Information Systems |
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Databases and Information Systems KUME, Hideyuki SUPPE, Arne SUPPE, Arne Vehicle localization along a previously driven route using an image database |
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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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text |
author |
KUME, Hideyuki SUPPE, Arne SUPPE, Arne |
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KUME, Hideyuki SUPPE, Arne SUPPE, Arne |
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KUME, Hideyuki |
title |
Vehicle localization along a previously driven route using an image database |
title_short |
Vehicle localization along a previously driven route using an image database |
title_full |
Vehicle localization along a previously driven route using an image database |
title_fullStr |
Vehicle localization along a previously driven route using an image database |
title_full_unstemmed |
Vehicle localization along a previously driven route using an image database |
title_sort |
vehicle localization along a previously driven route using an image database |
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Institutional Knowledge at Singapore Management University |
publishDate |
2013 |
url |
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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