Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

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Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

机译：Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

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Abstract High-definition (HD) maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems. A complete ground orthophoto is usually used as the base image to construct the HD map. The ground orthophoto is obtained through inverse perspective transformation and image mosaicing. During the image mosaicing, multiple consecutive orthophotos are stitched together using pose information and image registration. In this study, wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image overlapping. In the orthophoto wavelet transform, high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local details. Experimental results show that the accuracy of the orthophotos generated using this method is improved.

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《journal of shanghai jiaotong university (science)》 |2021年第5期|569-576|共页
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Shanghai Jiao Tong University;

Guangxi University of Science and Technology;

Noblelift Intelligent Equipment Co., Ltd.Key Laboratory of System Control and Information Processing of Ministry of Education;

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原文格式 PDF
正文语种英语
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high-definition (HD) map; wavelet transform; image registration; panorama; TP 242.6; A;

Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

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