Multiple map representations for vehicle localization and scene reconstruction

Mengyin Fu; Hao Zhu; Yi Yang; Meiling Wang; Yu Li

doi:10.1109/ITSC.2014.6958036

Multiple map representations for vehicle localization and scene reconstruction

Mengyin Fu, Hao Zhu, Yi Yang, Meiling Wang, Yu Li

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	2241-2242
页数	2
ISBN（电子版）	9781479960781
DOI	https://doi.org/10.1109/ITSC.2014.6958036
出版状态	已出版 - 14 11月 2014
活动	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, 中国期限: 8 10月 2014 → 11 10月 2014

出版系列

姓名	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

会议

会议	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
国家/地区	中国
市	Qingdao
时期	8/10/14 → 11/10/14

访问文件

10.1109/ITSC.2014.6958036

其它文件与链接

链接到 Scopus 的出版物

引用此

Fu, M., Zhu, H., Yang, Y., Wang, M., & Li, Y. (2014). Multiple map representations for vehicle localization and scene reconstruction. 在 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 (页码 2241-2242). 文章 6958036 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2014.6958036

Fu, Mengyin ; Zhu, Hao ; Yang, Yi 等. / Multiple map representations for vehicle localization and scene reconstruction. 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. 页码 2241-2242 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).

@inproceedings{a094e06bbf4b411a85eeb24dbad13d5c,

title = "Multiple map representations for vehicle localization and scene reconstruction",

abstract = "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.",

author = "Mengyin Fu and Hao Zhu and Yi Yang and Meiling Wang and Yu Li",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 ; Conference date: 08-10-2014 Through 11-10-2014",

year = "2014",

month = nov,

day = "14",

doi = "10.1109/ITSC.2014.6958036",

language = "English",

series = "2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2241--2242",

booktitle = "2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014",

address = "United States",

}

Fu, M, Zhu, H, Yang, Y, Wang, M & Li, Y 2014, Multiple map representations for vehicle localization and scene reconstruction. 在 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014., 6958036, 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Institute of Electrical and Electronics Engineers Inc., 页码 2241-2242, 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Qingdao, 中国, 8/10/14. https://doi.org/10.1109/ITSC.2014.6958036

Multiple map representations for vehicle localization and scene reconstruction. / Fu, Mengyin; Zhu, Hao; Yang, Yi 等.
2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. 页码 2241-2242 6958036 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

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 -

Fu M, Zhu H, Yang Y, Wang M, Li Y. Multiple map representations for vehicle localization and scene reconstruction. 在 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. 页码 2241-2242. 6958036. (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). doi: 10.1109/ITSC.2014.6958036

Multiple map representations for vehicle localization and scene reconstruction

摘要

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会议

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