Mapping And Localization In Urban Environments Using Cameras
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Mapping and Localization in Urban Environments Using Cameras
Author: Henning Lategahn
language: en
Publisher: KIT Scientific Publishing
Release Date: 2014
In this work we present a system to fully automatically create a highly accurate visual feature map from image data acquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.
Mapping and Localization in Urban Environments Using Cameras
In this work we present a system to fully automatically create a highly accurate visual feature map from image data aquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Compact Environment Modelling from Unconstrained Camera Platforms
Author: Schwarze, Tobias
language: en
Publisher: KIT Scientific Publishing
Release Date: 2018-09-25
Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people.