道路類似度空間を用いたBEV・衛星画像マッチングによるUGV自己位置推定
Road Similarity-Based BEV-Satellite Image Matching for UGV Localization
LiDARと画像から生成したBEV知覚画像と衛星地図を道路類似度空間でマッチングし、パーティクルフィルタでGNSS拒否環境におけるUGVの高精度な自己位置推定を実現した。
著者: Zhenping Sun, Chuang Yang, Yafeng Bu, Bokai Liu, Jun Zeng, Xiaohui Li
分類: cs.RO
原文アブストラクト
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to achieve high-precision positioning.We first implement a robust LiDAR-inertial odometry system, followed by the fusion of LiDAR and image data to generate a local BEV perception image of the UGV. This approach mitigates the significant viewpoint discrepancy between ground-view images and satellite map. The BEV image and satellite map are then projected into the road similarity space, where normalized cross correlation (NCC) is computed to assess the matching score.Finally, a particle filter is employed to estimate the probability distribution of the vehicle's pose.By comparing with GNSS ground truth, our localization system demonstrated stability without divergence over a long-distance test of 10 km, achieving an average lateral error of only 0.89 meters and an average planar Euclidean error of 3.41 meters. Furthermore, it maintained accurate and stable global localization even under nighttime conditions, further validating its robustness and adaptability.
