天候・照明に頑健な意味的鳥瞰図による3自由度自己位置推定
S-BEV: Semantic Birds-Eye View Representation for Weather and Lighting Invariant 3-DoF Localization
天候や照明の変化に強い意味的鳥瞰図(S-BEV)署名を提案し、経路の初回走行で作成したトポロジカルマップを用いて車両の粗い位置推定と精密な3自由度姿勢推定を行う手法を開発した。
著者: Mokshith Voodarla, Shubham Shrivastava, Sagar Manglani, Ankit Vora, Siddharth Agarwal, Punarjay Chakravarty
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
We describe a light-weight, weather and lighting invariant, Semantic Bird's Eye View (S-BEV) signature for vision-based vehicle re-localization. A topological map of S-BEV signatures is created during the first traversal of the route, which are used for coarse localization in subsequent route traversal. A fine-grained localizer is then trained to output the global 3-DoF pose of the vehicle using its S-BEV and its coarse localization. We conduct experiments on vKITTI2 virtual dataset and show the potential of the S-BEV to be robust to weather and lighting. We also demonstrate results with 2 vehicles on a 22 km long highway route in the Ford AV dataset.
