地上レーダーによる衛星画像上での自己位置推定
RSL-Net: Localising in Satellite Images From a Radar on the Ground
地上車両に搭載したFMCWレーダーの観測から、事前のレーダーマップを必要とせず、上空からの衛星画像と照合して車両位置を推定するクロスモーダル手法を提案した論文。
著者: Tim Y. Tang, Daniele De Martini, Dan Barnes, Paul Newman
分類: cs.CV, cs.RO, eess.IV
原文アブストラクト
This paper is about localising a vehicle in an overhead image using FMCW radar mounted on a ground vehicle. FMCW radar offers extraordinary promise and efficacy for vehicle localisation. It is impervious to all weather types and lighting conditions. However the complexity of the interactions between millimetre radar wave and the physical environment makes it a challenging domain. Infrastructure-free large-scale radar-based localisation is in its infancy. Typically here a map is built and suitable techniques, compatible with the nature of sensor, are brought to bear. In this work we eschew the need for a radar-based map; instead we simply use an overhead image -- a resource readily available everywhere. This paper introduces a method that not only naturally deals with the complexity of the signal type but does so in the context of cross modal processing.
