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首页> 外文期刊>Journal of Robotic Systems >Multimodal localization: Stereo over LiDAR map
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Multimodal localization: Stereo over LiDAR map

机译：多式联算定位：立体声在激光雷达地图上

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摘要

In this paper, we present a real-time high-precision visual localization system for an autonomous vehicle which employs only low-cost stereo cameras to localize the vehicle with a priori map built using a more expensive 3D LiDAR sensor. To this end, we construct two different visual maps: a sparse feature visual map for visual odometry (VO) based motion tracking, and a semidense visual map for registration with the prior LiDAR map. To register two point clouds sourced from different modalities (i.e., cameras and LiDAR), we leverage probabilistic weighted normal distributions transformation (ProW-NDT), by particularly taking into account the uncertainty of source point clouds. The registration results are then fused via pose graph optimization to correct the VO drift. Moreover, surfels extracted from the prior LiDAR map are used to refine the sparse 3D visual features that will further improve VO-based motion estimation. The proposed system has been tested extensively in both simulated and real-world experiments, showing that robust, high-precision, real-time localization can be achieved.
机译：在本文中，我们为自主车辆提供了一种实时高精度视觉定位系统，该自动车辆仅使用低成本的立体声摄像机，以利用使用更昂贵的3D激光雷达传感器建造的先验地图。为此，我们构建了两个不同的视觉映射：用于基于视觉内径（VO）的运动跟踪的稀疏特征视觉映射，以及用于与先前激光雷达地图注册的半阵容视觉映射。为了注册来自不同模式的两个点云（即，相机和激光雷达），我们通过特别考虑到源点云的不确定性，利用概率加权正常分布转换（PROW-NDT）。然后通过姿势图优化融合登记结果以校正VO漂移。此外，从先前的激光雷达地图中提取的冲浪用于改进将进一步提高基于VO的运动估计的稀疏3D视觉特征。建议的系统在模拟和现实世界实验中进行了广泛的测试，可以实现这种稳健，高精度，实时定位。

著录项

  • 来源
    《Journal of Robotic Systems》 |2020年第6期|1003-1026|共24页
  • 作者

    Xingxing Zuo; Wenlong Ye; Yulin Yang; Renjie Zheng; Teresa Vidal-Calleja; Guoquan Huang; Yong Liu;

  • 作者单位

    Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China;

    Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China;

    Department of Mechanical Engineering University of Delaware Newark Delaware;

    Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China;

    Centre for Autonomous Systems School of Mechanical and Mechatronic Engineering University of Technology Sydney Sydney New South Wales Australia;

    Department of Mechanical Engineering University of Delaware Newark Delaware;

    Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    computer vision; localization; perception; position estimation; sensors;

    机译：计算机视觉;本土化;洞察力;位置估计;传感器;

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