论文标题
自动驾驶汽车的基于空中图像的激光雷达定位
Aerial Imagery based LIDAR Localization for Autonomous Vehicles
论文作者
论文摘要
本文使用空中图像图和基于激光雷达的地面反射率为城市环境中的自动驾驶汽车提供了本地化技术。使用LiDAR反射率的传统定位技术取决于映射车产生的高清晰度反射率图。维护此类事先地图所需的成本和精力通常很高，因为它需要昂贵的映射车队。在这项工作中，我们提出了一种本地化技术，其中车辆使用空中/卫星图像进行定位，从而消除了开发和维护复杂的高清图的需求。该提出的技术已在密歇根州安阿伯市的测试轨道收集的现实世界数据集上进行了测试。这项研究得出的结论是，基于空中图像的地图提供了实时定位性能，类似于以降低成本的城市环境中自动驾驶汽车的最先进的痛地图。
This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition reflectivity maps generated from a mapping vehicle. The cost and effort required to maintain such prior maps are generally very high because it requires a fleet of expensive mapping vehicles. In this work we propose a localization technique where the vehicle localizes using aerial/satellite imagery, eradicating the need to develop and maintain complex high-definition maps. The proposed technique has been tested on a real world dataset collected from a test track in Ann Arbor, Michigan. This research concludes that aerial imagery based maps provides real-time localization performance similar to state-of-the-art LIDAR based maps for autonomous vehicles in urban environments at reduced costs.
