NDLI: Visual localization within LIDAR maps for automated urban driving

Content Provider	IEEE Xplore Digital Library
Author	Wolcott, R.W. Eustice, R.M.
Copyright Year	2014
Description	Author affiliation: Comput. Sci. & Eng. Div., Univ. of Michigan, Ann Arbor, MI, USA (Wolcott, R.W.) \|\| Dept. of Naval Archit. & Marine Eng., Univ. of Michigan, Ann Arbor, MI, USA (Eustice, R.M.)
Abstract	This paper reports on the problem of map-based visual localization in urban environments for autonomous vehicles. Self-driving cars have become a reality on roadways and are going to be a consumer product in the near future. One of the most significant road-blocks to autonomous vehicles is the prohibitive cost of the sensor suites necessary for localization. The most common sensor on these platforms, a three-dimensional (3D) light detection and ranging (LIDAR) scanner, generates dense point clouds with measures of surface reflectivity-which other state-of-the-art localization methods have shown are capable of centimeter-level accuracy. Alternatively, we seek to obtain comparable localization accuracy with significantly cheaper, commodity cameras. We propose to localize a single monocular camera within a 3D prior ground-map, generated by a survey vehicle equipped with 3D LIDAR scanners. To do so, we exploit a graphics processing unit to generate several synthetic views of our belief environment. We then seek to maximize the normalized mutual information between our real camera measurements and these synthetic views. Results are shown for two different datasets, a 3.0 km and a 1.5 km trajectory, where we also compare against the state-of-the-art in LIDAR map-based localization.
Starting Page	176
Ending Page	183
File Size	4482985
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942558
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Cameras Laser radar Mutual information Image registration Vehicles Graphics processing units
Content Type	Text
Resource Type	Article

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