Automatische Erzeugung langzeitverfügbarer Punktmerkmalskarten zur robusten Lokalisierung mit Multi-Kamera-Systemen für automatisierte Fahrzeuge
Abstract
Automated vehicles heavily rely on accurate self-localization to operate safely and efficiently in dynamic road traffic scenarios. In this work, an iterative and robust approach to create highly accurate maps comprising any number of drives of arbitrary length with constant computation complexity is proposed. Furthermore, a high-precision self-localization method using multiple cameras covering the surrounding environment is presented.
Keywords
SLAM; Automatisiertes Fahren; Fahrzeugsehen; Umweltwahrnehmung; Lokalisierung; Automated Driving; Machine Vision; Environment Perception; Mapping and LocalizationDOI
10.5445/KSP/1000118525ISBN
9783731510291, 9783731510291Publisher
KIT Scientific PublishingPublisher website
https://www.ksp.kit.edu/index.php?link=shop&sort=allPublication date and place
Karlsruhe, 2021Series
Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie, 45Classification
Mechanical engineering & materials
Mechanical engineering and materials