Continuous Verification and Safe Localization in Semantic High Definition Maps for Automated Driving
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Beschreibung
This work proposes a system for direct localization in HD planning maps and their continuous verification far ahead of the vehicle using only on-board sensors and processing, offering a new level of reliability for semantic HD maps. By detecting map elements with human-like accuracy in up to 180 m distance and achieving globally probabilistically optimal data association in real time, it achieves a localization accuracy of about 2 cm and 0.02° even in outdated maps.
Autor*in
Jan-Hendrik Pauls
Themen in »Continuous Verification and Safe Localization in Semantic High Definition Maps for Automated Driving«
Hochaufgelöste (HD) Karten Lokalisierung Datenassoziation Simultane Lokalisierung und Kartierung (SLAM) Autonomes Fahren high definition (HD) maps localization data association simultaneous localization and mapping (SLAM) autonomous driving