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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2241-2242
Number of pages	2
ISBN (Electronic)	9781479960781
DOIs	https://doi.org/10.1109/ITSC.2014.6958036
Publication status	Published - 14 Nov 2014
Externally published	Yes
Event	17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, China Duration: 8 Oct 2014 → 11 Oct 2014

Publication series

Name	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Country/Territory	China
City	Qingdao
Period	8/10/14 → 11/10/14

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10.1109/ITSC.2014.6958036

Cite this

Fu, M., Zhu, H., Yang, Y., Wang, M., & Li, Y. (2014). Multiple map representations for vehicle localization and scene reconstruction. In 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 (pp. 2241-2242). Article 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 et al. / 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. pp. 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.; 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. in 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., pp. 2241-2242, 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Qingdao, China, 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 et al.
2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2241-2242 6958036 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 - https://www.scopus.com/pages/publications/84937153201

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 - 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. In 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 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

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