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Generation and Exploitation of Local Orthographic Imagery for Road Vehicle Localisation

Abstract:

This paper is about road vehicle localisation based on vision using synthesised local orthographic imagery. We exploit state of the art stereo visual odometry (VO) on our survey vehicle to generate high precision synthetic orthographic images of the road surface as would be seen from overhead. The fidelity and detail of these images far exceeds that of aerial photographs. When undertaking subsequent passes of the same route, the vehicle is localised against the survey vehicle's trajectory by ...

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Publication status:
Published

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Publisher copy:
10.1109/IVS.2012.6232165

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Journal:
2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV)
Pages:
590-596
Publication date:
2012
DOI:
URN:
uuid:12d229e5-1dfb-411f-8377-429007faec50
Source identifiers:
350023
Local pid:
pubs:350023
Language:
English

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