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Multi-Session Visual Roadway Mapping

Boschenriedter, Stefan and Hossbach, Phillip and Linnhoff, Clemens and Luthardt, Stefan and Wu, Siqian (2018):
Multi-Session Visual Roadway Mapping.
In: 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Maui, Hawaii, USA, November 4-7, 2018, DOI: 10.1109/ITSC.2018.8570004, [Online-Edition: http://tuprints.ulb.tu-darmstadt.de/8356/1/Luthardt_ITSC_201...],
[Conference or Workshop Item]

Abstract

This paper proposes an algorithm for camera based roadway mapping in urban areas. With a convolutional neural network the roadway is detected in images taken by a camera mounted in the vehicle. The detected roadway masks from all images of one driving session are combined according to their corresponding GPS position to create a probabilistic grid map of the roadway. Finally, maps from several driving sessions are merged by a feature matching algorithm to compensate for errors in the roadway detection and localization inaccuracies. Hence, this approach utilizes solely low-cost sensors common in usual production vehicles and can generate highly detailed roadway maps from crowd-sourced data.

Item Type: Conference or Workshop Item
Erschienen: 2018
Creators: Boschenriedter, Stefan and Hossbach, Phillip and Linnhoff, Clemens and Luthardt, Stefan and Wu, Siqian
Title: Multi-Session Visual Roadway Mapping
Language: English
Abstract:

This paper proposes an algorithm for camera based roadway mapping in urban areas. With a convolutional neural network the roadway is detected in images taken by a camera mounted in the vehicle. The detected roadway masks from all images of one driving session are combined according to their corresponding GPS position to create a probabilistic grid map of the roadway. Finally, maps from several driving sessions are merged by a feature matching algorithm to compensate for errors in the roadway detection and localization inaccuracies. Hence, this approach utilizes solely low-cost sensors common in usual production vehicles and can generate highly detailed roadway maps from crowd-sourced data.

Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: 2018 21st International Conference on Intelligent Transportation Systems (ITSC)
Event Location: Maui, Hawaii, USA
Event Dates: November 4-7, 2018
Date Deposited: 20 Jan 2019 20:55
DOI: 10.1109/ITSC.2018.8570004
Official URL: http://tuprints.ulb.tu-darmstadt.de/8356/1/Luthardt_ITSC_201...
URN: urn:nbn:de:tuda-tuprints-83567
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