自動運転の横方向制御のための中心線推定の進展
Advances in centerline estimation for autonomous lateral control
単眼カメラから道路線・中心線・車両の向き・横変位を推定する完全な知覚パイプラインを提案し、正確な幾何真値付きデータセットを公開した。
著者: Paolo Cudrano, Simone Mentasti, Matteo Matteucci, Mattia Bersani, Stefano Arrigoni, Federico Cheli
分類: cs.RO
原文アブストラクト
The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are usually retrieved from camera images. Still, most of the works on line detection are limited to image mask retrieval and do not provide a usable representation in world coordinates. What we propose in this paper is a complete perception pipeline based on monocular vision and able to retrieve all the information required by a vehicle lateral control system: road lines equation, centerline, vehicle heading and lateral displacement. We evaluate our system by acquiring data with accurate geometric ground truth. To act as a benchmark for further research, we make this new dataset publicly available at http://airlab.deib.polimi.it/datasets/.
