Mapping And Localization In Urban Environments Using Cameras PDF Download
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Author | : Henning Lategahn |
Publisher | : KIT Scientific Publishing |
Total Pages | : 146 |
Release | : 2014 |
Genre | : Computers |
ISBN | : 373150135X |
Download Mapping and Localization in Urban Environments Using Cameras Book in PDF, ePub and Kindle
In this work we present a system to fully automatically create a highly accurate visual feature map from image data acquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.
Author | : Henning Lategahn |
Publisher | : |
Total Pages | : 136 |
Release | : 2020-10-09 |
Genre | : Technology & Engineering |
ISBN | : 9781013282249 |
Download Mapping and Localization in Urban Environments Using Cameras Book in PDF, ePub and Kindle
In this work we present a system to fully automatically create a highly accurate visual feature map from image data aquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Author | : Schwarze, Tobias |
Publisher | : KIT Scientific Publishing |
Total Pages | : 158 |
Release | : 2018-09-25 |
Genre | : |
ISBN | : 373150801X |
Download Compact Environment Modelling from Unconstrained Camera Platforms Book in PDF, ePub and Kindle
Author | : Knorr, Moritz |
Publisher | : KIT Scientific Publishing |
Total Pages | : 166 |
Release | : 2018-12-19 |
Genre | : Calibration |
ISBN | : 373150765X |
Download Self-Calibration of Multi-Camera Systems for Vehicle Surround Sensing Book in PDF, ePub and Kindle
Author | : Rabe, Johannes |
Publisher | : KIT Scientific Publishing |
Total Pages | : 196 |
Release | : 2019-01-10 |
Genre | : Augmented reality |
ISBN | : 3731508540 |
Download Lane-Precise Localization with Production Vehicle Sensors and Application to Augmented Reality Navigation Book in PDF, ePub and Kindle
This works describes an approach to lane-precise localization on current digital maps. A particle filter fuses data from production vehicle sensors, such as GPS, radar, and camera. Performance evaluations on more than 200 km of data show that the proposed algorithm can reliably determine the current lane. Furthermore, a possible architecture for an intuitive route guidance system based on Augmented Reality is proposed together with a lane-change recommendation for unclear situations.
Author | : Taş, Ömer Şahin |
Publisher | : KIT Scientific Publishing |
Total Pages | : 222 |
Release | : 2023-10-23 |
Genre | : |
ISBN | : 3731512998 |
Download Motion Planning for Autonomous Vehicles in Partially Observable Environments Book in PDF, ePub and Kindle
This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling.
Author | : Hubmann, Constantin |
Publisher | : KIT Scientific Publishing |
Total Pages | : 178 |
Release | : 2021-09-13 |
Genre | : Technology & Engineering |
ISBN | : 3731510391 |
Download Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception Book in PDF, ePub and Kindle
This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty.
Author | : Antonio M. López |
Publisher | : John Wiley & Sons |
Total Pages | : 216 |
Release | : 2017-02-08 |
Genre | : Computers |
ISBN | : 1118868056 |
Download Computer Vision in Vehicle Technology Book in PDF, ePub and Kindle
A unified view of the use of computer vision technology for different types of vehicles Computer Vision in Vehicle Technology focuses on computer vision as on-board technology, bringing together fields of research where computer vision is progressively penetrating: the automotive sector, unmanned aerial and underwater vehicles. It also serves as a reference for researchers of current developments and challenges in areas of the application of computer vision, involving vehicles such as advanced driver assistance (pedestrian detection, lane departure warning, traffic sign recognition), autonomous driving and robot navigation (with visual simultaneous localization and mapping) or unmanned aerial vehicles (obstacle avoidance, landscape classification and mapping, fire risk assessment). The overall role of computer vision for the navigation of different vehicles, as well as technology to address on-board applications, is analysed. Key features: Presents the latest advances in the field of computer vision and vehicle technologies in a highly informative and understandable way, including the basic mathematics for each problem. Provides a comprehensive summary of the state of the art computer vision techniques in vehicles from the navigation and the addressable applications points of view. Offers a detailed description of the open challenges and business opportunities for the immediate future in the field of vision based vehicle technologies. This is essential reading for computer vision researchers, as well as engineers working in vehicle technologies, and students of computer vision.
Author | : Naumann, Maximilian |
Publisher | : KIT Scientific Publishing |
Total Pages | : 192 |
Release | : 2021-02-25 |
Genre | : Technology & Engineering |
ISBN | : 3731510707 |
Download Probabilistic Motion Planning for Automated Vehicles Book in PDF, ePub and Kindle
In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended safety verification framework. The approaches consider uncertainties from imperfect perception, occlusions and limited sensor range, and also those in the behavior of other traffic participants.
Author | : Yi, Boliang |
Publisher | : KIT Scientific Publishing |
Total Pages | : 174 |
Release | : 2018-08-29 |
Genre | : |
ISBN | : 3731507854 |
Download Integrated Planning and Control for Collision Avoidance Systems Book in PDF, ePub and Kindle