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TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES

Abstract: 

Vehicle localization is a critical component for autonomous driving, which estimates the position and orientation of vehicles. To achieve the goal of quick and accurate localization, we develop a system that can dynamically switch the features applied for localization. Specifically, we develop a feature based on convolutional neural network targeting at accurate matching, which proves high rotation invariant property that can help to overcome the relatively large error when vehicles turning at corners. However, when the vehicle motion mainly involves translation, we apply the ORB feature to localize the vehicle, as it demonstrates similar accuracy in translation estimation. Through dynamic switching between features, we can accurately localize the vehicle with high time performance. To filter out noise features, we train a CNN neural network to semantically understand the images and filter the features from moving objects and infinity position. During the pose estimation stage, we rely on the depth of the 3D points to identify the inliers satisfying RANSAC. Experiments demonstrate the superb performance of our method.

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The poster for our ICIP paper "Taking Me To The Correct Place: Vision-Based Localization For Autonomous Vehicles"

Paper Details

Authors:
Guoyu Lu, Xue-iuan Wong
Submitted On:
20 September 2019 - 5:45am
Short Link:
Type:
Poster
Event:
Presenter's Name:
Guoyu Lu
Document Year:
2019
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Document Files

ICIP_poster_3818.pdf

(5)

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[1] Guoyu Lu, Xue-iuan Wong, "TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4773. Accessed: Oct. 18, 2019.
@article{4773-19,
url = {http://sigport.org/4773},
author = {Guoyu Lu; Xue-iuan Wong },
publisher = {IEEE SigPort},
title = {TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES},
year = {2019} }
TY - EJOUR
T1 - TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES
AU - Guoyu Lu; Xue-iuan Wong
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4773
ER -
Guoyu Lu, Xue-iuan Wong. (2019). TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES. IEEE SigPort. http://sigport.org/4773
Guoyu Lu, Xue-iuan Wong, 2019. TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES. Available at: http://sigport.org/4773.
Guoyu Lu, Xue-iuan Wong. (2019). "TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES." Web.
1. Guoyu Lu, Xue-iuan Wong. TAKING ME TO THE CORRECT PLACE: VISION-BASED LOCALIZATION FOR AUTONOMOUS VEHICLES [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4773