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MapLite: Autonomous Intersection Navigation Without a Detailed Prior Map
- Source :
- Other repository
- Publication Year :
- 2020
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2020.
-
Abstract
- In this work, we present MapLite: a one-click autonomous navigation system capable of piloting a vehicle to an arbitrary desired destination point given only a sparse publicly available topometric map (from OpenStreetMap). The onboard sensors are used to segment the road region and register the topometric map in order to fuse the high-level navigation goals with a variational path planner in the vehicle frame. This enables the system to plan trajectories that correctly navigate road intersections without the use of an external localization system such as GPS or a detailed prior map. Since the topometric maps already exist for the vast majority of roads, this solution greatly increases the geographical scope for autonomous mobility solutions. We implement MapLite on a full-scale autonomous vehicle and exhaustively test it on over 15 km of road including over 100 autonomous intersection traversals. We further extend these results through simulated testing to validate the system on complex road junction topologies such as traffic circles.
- Subjects :
- 0209 industrial biotechnology
Control and Optimization
Computer science
business.industry
Autonomous Navigation System
Mechanical Engineering
Real-time computing
Biomedical Engineering
02 engineering and technology
010501 environmental sciences
01 natural sciences
Computer Science Applications
Human-Computer Interaction
020901 industrial engineering & automation
Vehicle frame
Artificial Intelligence
Control and Systems Engineering
Path (graph theory)
Global Positioning System
Point (geometry)
Computer Vision and Pattern Recognition
business
Intelligent transportation system
Intersection (aeronautics)
0105 earth and related environmental sciences
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 5
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....07a5d49d1dcbbdc1237b2e369ba41183