Details
| Original language | English |
|---|---|
| Title of host publication | Conference Proceedings - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Publisher | International Society for Photogrammetry and Remote Sensing |
| Pages | 361-366 |
| Number of pages | 6 |
| Volume | 38 |
| Publication status | Published - 26 May 2010 |
| Event | Joint International Conference on Theory, Data Handling and Modelling in GeoSpatial Information Science - Hong Kong, Hong Kong Duration: 26 May 2010 → 28 May 2010 |
Publication series
| Name | The international archives of the photogrammetry, remote sensing and spatial information sciences |
|---|---|
| ISSN (Print) | 1682-1750 |
Abstract
In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted pole-like structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
Keywords
- Accuracy, Extraction, LIDAR, Mapping, Matching, Mobile Laser scanning, Navigation
ASJC Scopus subject areas
- Computer Science(all)
- Information Systems
- Social Sciences(all)
- Geography, Planning and Development
Cite this
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Conference Proceedings - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences . Vol. 38 International Society for Photogrammetry and Remote Sensing, 2010. p. 361-366 (The international archives of the photogrammetry, remote sensing and spatial information sciences).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Evaluation of automatically extracted landmarks for future driver assistance systems
AU - Brenner, Claus
AU - Hofmann, Sabine
PY - 2010/5/26
Y1 - 2010/5/26
N2 - In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted pole-like structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
AB - In the future, vehicles will gather more and more spatial information about their environment, using on-board sensors such as cameras and laser scanners. Using this data, e.g. for localization, requires highly accurate maps with a higher level of detail than provided by today's maps. Producing those maps can only be realized economically if the information is obtained fully automatically. It is our goal to investigate the creation of intermediate level maps containing geo-referenced landmarks, which are suitable for the specific purpose of localization. To evaluate this approach, we acquired a dense laser scan of a 22 km scene, using a mobile mapping system. From this scan, we automatically extracted pole-like structures, such as street and traffic lights, which form our pole database. To assess the accuracy, ground truth was obtained for a selected inner-city junction by a terrestrial survey. In order to evaluate the usefulness of this database for localization purposes, we obtained a second scan, using a robotic vehicle equipped with an automotive-grade laser scanner. We extracted poles from this scan as well and employed a local pole matching algorithm to improve the vehicle's position.
KW - Accuracy
KW - Extraction
KW - LIDAR
KW - Mapping
KW - Matching
KW - Mobile Laser scanning
KW - Navigation
UR - http://www.scopus.com/inward/record.url?scp=84875166903&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84875166903
VL - 38
T3 - The international archives of the photogrammetry, remote sensing and spatial information sciences
SP - 361
EP - 366
BT - Conference Proceedings - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
PB - International Society for Photogrammetry and Remote Sensing
T2 - Joint International Conference on Theory, Data Handling and Modelling in GeoSpatial Information Science
Y2 - 26 May 2010 through 28 May 2010
ER -