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首页> 外文会议>2012 IEEE International Conference on Vehicular Electronics and Safety >City GPS using stereo vision
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City GPS using stereo vision

机译：使用立体视觉的城市GPS

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摘要

Next generation driver assistance systems require a precise localization. However, global navigation satellite systems (GNSS) often exhibit a paucity of accuracy due to shadowing effects in street canyon like scenarios rendering this solution insufficient for many tasks. Alternatively 3D laser scanners can be utilized to localize the vehicle within a previously recorded 3D map. These scanners however, are expensive and bulky hampering a wide spread use. Herein we propose to use stereo cameras to localize the ego vehicle within a previously computed visual 3D map. The proposed localization solution is low cost, precise and runs in real time. The map is computed once and kept fixed thereafter using cameras as sole sensors without GPS readings. The presented mapping algorithm is largely inspired by current state of the art simultaneous localization and mapping (SLAM) methods. Moreover, the map merely consists of a sparse set of landmark points keeping the map storage manageably low.
机译：下一代驾驶员辅助系统需要精确的定位。但是，由于类似街道峡谷的阴影效应，全球导航卫星系统（GNSS）经常缺乏精确性，从而使该解决方案无法完成许多任务。可替代地，可以利用3D激光扫描仪将车辆定位在先前记录的3D地图中。然而，这些扫描仪昂贵且笨重，妨碍了广泛的使用。本文中，我们建议使用立体摄像机在以前计算的视觉3D地图中定位自我车辆。所提出的本地化解决方案成本低，精确且可实时运行。该地图仅计算一次，然后使用照相机作为唯一传感器（无需GPS读数）保持固定。提出的映射算法很大程度上受当前同时定位和映射（SLAM）方法的启发。此外，地图仅由稀疏的一组地标点组成，从而使地图的存储量可管理地较低。

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