基于子地图的道路标记SLAM

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI:10.1109/IVS.2015.7225910

Eike Rehder, Alexander Albrecht

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引用次数: 13

摘要

连贯的路线图是自主导航的先决条件。在未知环境下，网格地图和SLAM技术被广泛应用。本文提出了一种新的基于视觉的道路标线制图方法，通过注册局部占用网格图进行地图拼接。我们表明，通过合理精确的自我运动测量，可以从局部网格地图构建无缝的全球地图。该方法在一辆自动驾驶模型赛车上获得的真实数据上进行了评估。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Submap-based SLAM for road markings

Coherent road maps are a prerequisite for autonomous navigation. In case of an unknown environment, grid map and SLAM techniques are widely used. This paper takes a novel approach to vision based mapping of road markings by registration of local occupancy gridmaps for map stitching. We show that with reasonably accurate ego motion measurements, seamless global maps can be constructed from local grid maps. The approach is evaluated on real world data obtained from an autonomous model racing car.

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2015 IEEE Intelligent Vehicles Symposium (IV)

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