Title :
Submap-based SLAM for road markings
Author :
Rehder, Eike ; Albrecht, Alexander
Author_Institution :
Inst. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany
fDate :
June 28 2015-July 1 2015
Abstract :
Coherent road maps are a prerequisite for autonomous navigation. In case of an unknown environment, grid map and SLAM techniques are widely used. This paper takes a novel approach to vision based mapping of road markings by registration of local occupancy gridmaps for map stitching. We show that with reasonably accurate ego motion measurements, seamless global maps can be constructed from local grid maps. The approach is evaluated on real world data obtained from an autonomous model racing car.
Keywords :
SLAM (robots); image registration; mobile robots; motion measurement; road vehicles; robot vision; autonomous model racing car; autonomous navigation; coherent road maps; ego motion measurements; local occupancy grid map registration; map stitching; road marking vision based mapping; submap-based SLAM; Covariance matrices; Feature extraction; Optimization; Roads; Simultaneous localization and mapping; Three-dimensional displays;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2015 IEEE
Conference_Location :
Seoul
DOI :
10.1109/IVS.2015.7225910
