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人工智能论文:使用波兰和道路标记进行精确的全球轨迹对准(Accurate Global Trajectory Alignment using Poles and

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wangfeixiang 发表于 2019-3-26 12:03:04 | 显示全部楼层 |阅读模式
wangfeixiang 2019-3-26 12:03:04 607 0 显示全部楼层
人工智能论文:使用波兰和道路标记进行精确的全球轨迹对准(Accurate Global Trajectory Alignment using Poles and Road Markings)目前,数字地图对于自动驾驶是必不可少的。然而,由于GNSS的低精度和可靠性,特别是在城市地区,融合独立记录会话和不同地区的轨迹是一项具有挑战性的任务。为了避免直接结合GNSS测量用于地理参考的缺陷,航空影像的使用似乎很有希望。此外,更准确的地理参考提高了全球地图精度并允许估计传感器校准误差。在本文中,我们提出了一种新的地理参考方法,用于使用极点和道路标记将轨迹与航拍图像对齐。为了将来自传感器观察的提取特征与航空影像地标稳健地匹配,基于RANSAC的匹配方法应用于滑动窗口。为此,我们假设轨迹通常参考图像,这可以通过来自低成本GNSS接收器的粗略GNSS测量来实现。最后,我们通过最小化包括所有确定的匹配的几何成本函数,将初始轨迹精确地对准航拍图像。对德国卡尔斯鲁厄的数据记录进行的评估显示,我们的算法产生的轨迹准确地参考了所使用的航空影像。
Currently, digital maps are indispensable for automated driving.However, dueto the low precision and reliability of GNSS particularly in urban areas,fusing trajectories of independent recording sessions and different regions isa challenging task.To bypass the flaws from direct incorporation of GNSSmeasurements for geo-referencing, the usage of aerial imagery seems promising.Furthermore, more accurate geo-referencing improves the global map accuracy andallows to estimate the sensor calibration error.In this paper, we present anovel geo-referencing approach to align trajectories to aerial imagery usingpoles and road markings.To match extracted features from sensor observationsto aerial imagery landmarks robustly, a RANSAC-based matching approach isapplied in a sliding window.For that, we assume that the trajectories areroughly referenced to the imagery which can be achieved by rough GNSSmeasurements from a low-cost GNSS receiver.Finally, we align the initialtrajectories precisely to the aerial imagery by minimizing a geometric costfunction comprising all determined matches.Evaluations performed on datarecorded in Karlsruhe, Germany show that our algorithm yields trajectorieswhich are accurately referenced to the used aerial imagery.人工智能论文:使用波兰和道路标记进行精确的全球轨迹对准(Accurate Global Trajectory Alignment using Poles and Road Markings) PCeG7iGj4R3wLE9w.jpg
URL地址:https://arxiv.org/abs/1903.10205     ----pdf下载地址:https://arxiv.org/pdf/1903.10205    ----人工智能论文:使用波兰和道路标记进行精确的全球轨迹对准(Accurate Global Trajectory Alignment using Poles and Road Markings)
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