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IV 2016, IEEE Intelligent Vehicles Symposium 19/06/2016 22/06/2016 Göteborg Suède Proceedings IEEE
nom du congrès :
IV 2016, IEEE Intelligent Vehicles Symposium
début du congrès :
19/06/2016
fin du congrès :
22/06/2016
ville du congrès :
Göteborg
pays du congrès :
Suède
site des actes du congrès :
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Documents disponibles (1)
Ajouter le résultat dans votre panier Affiner la recherche Interroger des sources externesLandmark based localization: LBA refinement using MCMC-optimized projections of RJMCMC-extracted road marks / Bahman Soheilian (2016)
Titre : Landmark based localization: LBA refinement using MCMC-optimized projections of RJMCMC-extracted road marks Type de document : Article/Communication Auteurs : Bahman Soheilian Editeur : New York : Institute of Electrical and Electronics Engineers IEEE Année de publication : 2016 Conférence : IV 2016, IEEE Intelligent Vehicles Symposium 19/06/2016 22/06/2016 Göteborg Suède Proceedings IEEE Importance : pp 940 - 947 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] géolocalisation
[Termes IGN] méthode de Monte-Carlo par chaînes de Markov
[Termes IGN] modèle 3D de l'espace urbain
[Termes IGN] scène 3D
[Termes IGN] signalisation routière
[Termes IGN] zone urbaineRésumé : (auteur) Precise localization in dense urban areas is a challenging task for both mobile mapping and driver assistance systems. This paper proposes a strategy to use road markings as localization landmarks for vision based systems. First step consists in reconstructing a map of road marks. A mobile mapping system equipped with precise georeferencing devices is applied to scan the scene in 3D and to generate an ortho-image of the road surface. A RJMCMC sampler that is coupled with a simulated annealing method is applied to detect occurrences of road marking templates instanced from an extensible database of road mark patterns. The detected objects are reconstructed in 3D using the height information obtained from 3D points. A calibrated camera and a low cost GPS receiver are embedded on a vehicle and used as localization devices. Local bundle adjustment (LBA) is applied to estimate the trajectory of the vehicle. In order to reduce the drift of the trajectory, images are matched with the reconstructed road marks frequently. The matching is initialized by the initial poses that are estimated by LBA and optimized by a MCMC algorithm. The matching provides ground control points that are integrated in the LBA in order to refine the pose parameters. The method is evaluated on a set of images acquired in a real urban area and is compared with a precise ground-truth. Numéro de notice : C2016-036 Affiliation des auteurs : LASTIG MATIS (2012-2019) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1109/IVS.2016.7535501 Date de publication en ligne : 08/08/2016 En ligne : https://doi.org/10.1109/IVS.2016.7535501 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91797
