Julius Ziegler, Henning Lategahn, M. Schreiber, C. G. Keller, Carsten Knöppel, Jochen Hipp, M. Haueis, C. Stiller
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引用次数: 100
摘要
2013年8月，经过改装的梅赛德斯-奔驰SClass S500 Intelligent Drive(“Bertha”)完成了历史性的Bertha- benz - memorial - route。这段103公里的自驾游穿越了城市和农村地区。该系统使用详细的几何地图来补充其在线感知系统。基于地图的方法只有在提供精确的地图相对定位时才可行。本文的目的是对系统架构的这一基石进行概述。已经开发了两种辅助的基于视觉的定位方法。其中一种是基于车道标记和类似道路元素的检测，另一种是利用点形状特征的描述符。最后一个过滤步骤将两个估计结合起来，同时正确处理无序的测量。
In August 2013, the modified Mercedes-Benz SClass S500 Intelligent Drive (“Bertha”) completed the historic Bertha-Benz-Memorial-Route fully autonomously. The self-driving 103 km journey passed through urban and rural areas. The system used detailed geometric maps to supplement its online perception systems. A map based approach is only feasible if a precise, map relative localization is provided. The purpose of this paper is to give a survey on this corner stone of the system architecture. Two supplementary vision based localization methods have been developed. One of them is based on the detection of lane markings and similar road elements, the other exploits descriptors for point shaped features. A final filter step combines both estimates while handling out-of-sequence measurements correctly.
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