Boschenriedter, Stefan ; Hossbach, Phillip ; Linnhoff, Clemens ; Luthardt, Stefan ; Wu, Siqian (2018):
Multi-Session Visual Roadway Mapping.
pp. 394-400, 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Maui, Hawaii, USA, November 4-7, 2018, DOI: 10.1109/ITSC.2018.8570004,
[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 ; Hossbach, Phillip ; Linnhoff, Clemens ; Luthardt, Stefan ; 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. |
| Uncontrolled Keywords: | PRORETA4 |
| 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 (from 01.08.2022 renamed Control Methods and Intelligent Systems) |
| 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 |
| URL / URN: | http://tuprints.ulb.tu-darmstadt.de/8356/1/Luthardt_ITSC_201... |
| URN: | urn:nbn:de:tuda-tuprints-83567 |
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| Corresponding Links: | |
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