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In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted pole-like structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position. | In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted pole-like structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position. | ||
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The different versions of the original document can be found in: | The different versions of the original document can be found in: | ||
| − | * [https://www.repo.uni-hannover.de/bitstream/123456789/1155/1/88_Paper.pdf https://www.repo.uni-hannover.de/bitstream/123456789/1155/1/88_Paper.pdf] under the license cc-by | + | * [https://www.repo.uni-hannover.de/bitstream/123456789/1155/1/88_Paper.pdf https://www.repo.uni-hannover.de/bitstream/123456789/1155/1/88_Paper.pdf] under the license https://creativecommons.org/licenses/by |
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| + | * [http://dx.doi.org/10.15488/1131 http://dx.doi.org/10.15488/1131], | ||
| + | : [http://www.repo.uni-hannover.de/handle/123456789/1155 http://www.repo.uni-hannover.de/handle/123456789/1155] under the license cc-by | ||
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| + | * [http://www.springerlink.com/index/pdf/10.1007/978-3-642-25926-5_13 http://www.springerlink.com/index/pdf/10.1007/978-3-642-25926-5_13], | ||
| + | : [http://dx.doi.org/10.1007/978-3-642-25926-5_13 http://dx.doi.org/10.1007/978-3-642-25926-5_13] | ||
| + | |||
| + | * [https://link.springer.com/chapter/10.1007/978-3-642-25926-5_13 https://link.springer.com/chapter/10.1007/978-3-642-25926-5_13], | ||
| + | : [http://core.ac.uk/display/21826985 http://core.ac.uk/display/21826985], | ||
| + | : [https://www.scipedia.com/public/Brenner_Hofmann_2010a https://www.scipedia.com/public/Brenner_Hofmann_2010a], | ||
| + | : [https://rd.springer.com/chapter/10.1007/978-3-642-25926-5_13 https://rd.springer.com/chapter/10.1007/978-3-642-25926-5_13], | ||
| + | : [https://www.repo.uni-hannover.de/handle/123456789/1155 https://www.repo.uni-hannover.de/handle/123456789/1155], | ||
| + | : [https://dblp.uni-trier.de/db/conf/sdh/sdh2010.html#BrennerH10 https://dblp.uni-trier.de/db/conf/sdh/sdh2010.html#BrennerH10], | ||
| + | : [https://link.springer.com/chapter/10.1007/978-3-642-25926-5_13/fulltext.html https://link.springer.com/chapter/10.1007/978-3-642-25926-5_13/fulltext.html], | ||
| + | : [https://academic.microsoft.com/#/detail/38954799 https://academic.microsoft.com/#/detail/38954799] | ||
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| + | |||
| − | DOIS: | + | DOIS: 10.1007/978-3-642-25926-5_13 10.15488/1131 |
Latest revision as of 13:33, 21 January 2021
Abstract
In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted pole-like structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
Original document
The different versions of the original document can be found in:
- https://www.repo.uni-hannover.de/bitstream/123456789/1155/1/88_Paper.pdf under the license https://creativecommons.org/licenses/by
- http://www.repo.uni-hannover.de/handle/123456789/1155 under the license cc-by
- http://core.ac.uk/display/21826985,
- https://www.scipedia.com/public/Brenner_Hofmann_2010a,
- https://rd.springer.com/chapter/10.1007/978-3-642-25926-5_13,
- https://www.repo.uni-hannover.de/handle/123456789/1155,
- https://dblp.uni-trier.de/db/conf/sdh/sdh2010.html#BrennerH10,
- https://link.springer.com/chapter/10.1007/978-3-642-25926-5_13/fulltext.html,
- https://academic.microsoft.com/#/detail/38954799
DOIS: 10.1007/978-3-642-25926-5_13 10.15488/1131
Document information
Published on 01/01/2010
Volume 2010, 2010
DOI: 10.15488/1131
Licence: CC BY-NC-SA license
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