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Lane-level localization system using surround-view cameras adaptive to different driving conditions
- Source :
- International Journal of Advanced Robotic Systems, Vol 17 (2020), International Journal of Advanced Robotic Systems, International Journal of Advanced Robotic Systems, InTech, 2020, 17 (2), pp.172988142092163. ⟨10.1177/1729881420921630⟩
- Publication Year :
- 2020
- Publisher :
- SAGE Publishing, 2020.
-
Abstract
- This article presents a lane-level localization system adaptive to different driving conditions, such as occlusions, complicated road structures, and lane-changing maneuvers. The system uses surround-view cameras, other low-cost sensors, and a lane-level road map which suits for mass deployment. A map-matching localizer is proposed to estimate the probabilistic lateral position. It consists of a sub-map extraction module, a perceptual model, and a matching model. A probabilistic lateral road feature is devised as a sub-map without limitations of road structures. The perceptual model is a deep learning network that processes raw images from surround-view cameras to extract a local probabilistic lateral road feature. Unlike conventional deep-learning-based methods, the perceptual model is trained by auto-generated labels from the lane-level map to reduce manual effort. The matching model computes the correlation between the sub-map and the local probabilistic lateral road feature to output the probabilistic lateral estimation. A particle-filter-based framework is developed to fuse the output of map-matching localizer with the measurements from wheel speed sensors and an inertial measurement unit. Experimental results demonstrate that the proposed system provides the localization results with submeter accuracy in different driving conditions.
- Subjects :
- 050210 logistics & transportation
0209 industrial biotechnology
Computer science
business.industry
Deep learning
05 social sciences
lcsh:Electronics
lcsh:TK7800-8360
02 engineering and technology
lcsh:QA75.5-76.95
Computer Science Applications
[SPI.AUTO]Engineering Sciences [physics]/Automatic
020901 industrial engineering & automation
Artificial Intelligence
11. Sustainability
0502 economics and business
Computer vision
[INFO.INFO-ES]Computer Science [cs]/Embedded Systems
Artificial intelligence
lcsh:Electronic computers. Computer science
Localization system
business
Software
ComputingMilieux_MISCELLANEOUS
Subjects
Details
- Language :
- English
- ISSN :
- 17298814 and 17298806
- Volume :
- 17
- Database :
- OpenAIRE
- Journal :
- International Journal of Advanced Robotic Systems
- Accession number :
- edsair.doi.dedup.....eccb9cca0c929310f9966d596526c1e9