TY - GEN
T1 - Multiple map representations for vehicle localization and scene reconstruction
AU - Fu, Mengyin
AU - Zhu, Hao
AU - Yang, Yi
AU - Wang, Meiling
AU - Li, Yu
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/14
Y1 - 2014/11/14
N2 - This paper proposes a RBPF SLAM algorithm for localization map building, and the SLAM result can be used for fusing multiple 3D photorealistic local maps of the environment. For the localization map, a heightmap representation based on the Velodyne pointcloud is presented, and a RBPF SLAM algorithm is established for precise mapping and localization. For the scene reconstruction map, the Velodyne LIDAR and Ladybug3 omnidirectional camera are fused to provide a photorealistic 3D representation of the scene.
AB - This paper proposes a RBPF SLAM algorithm for localization map building, and the SLAM result can be used for fusing multiple 3D photorealistic local maps of the environment. For the localization map, a heightmap representation based on the Velodyne pointcloud is presented, and a RBPF SLAM algorithm is established for precise mapping and localization. For the scene reconstruction map, the Velodyne LIDAR and Ladybug3 omnidirectional camera are fused to provide a photorealistic 3D representation of the scene.
UR - http://www.scopus.com/inward/record.url?scp=84937153201&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2014.6958036
DO - 10.1109/ITSC.2014.6958036
M3 - Conference contribution
AN - SCOPUS:84937153201
T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
SP - 2241
EP - 2242
BT - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Y2 - 8 October 2014 through 11 October 2014
ER -