Mapping and Localization in Urban Environments Using Cameras
Résumé
In this work we present a system to fully automatically create a highly accurate visual feature map from image data aquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.
Keywords
Maschinelles Sehen; Lokalisierung; Kartierung; Autonomes FahrenISBN
9783731501350Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2013Series
Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie,Classification
Technology: general issues