Journal
IEEE VEHICULAR TECHNOLOGY MAGAZINE
Volume 17, Issue 4, Pages 47-56Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/MVT.2022.3209503
Keywords
Road traffic; Splines (mathematics); Location awareness; Global Positioning System; Autonomous vehicles; Optimization; Cameras; Trajectory planning
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This study proposes two vision-based pipelines for generating lane-level HD maps using clothoid models. The first pipeline requires precise real-time kinematics GPS (RTK GPS) measurements, while the second pipeline can handle noisy localization data.
Autonomous vehicles rely on lane-level high-definition (HD) maps for self-localization and trajectory planning. Current mapping, however, relies on simple line models, while clothoid curves have unexplored potential. Clothoids, well known in road design, are often chosen to model the vehicle trajectory in planning and control systems as they describe the road with higher fidelity. For this reason, we propose two vision-based pipelines for generating lane-level HD maps using clothoid models. The first pipeline performs mapping with known poses, requiring precise real-time kinematics GPS (RTK GPS) measurements; the second copes with noisy localizations, solving the simultaneous localization and mapping (SLAM) problem. Both pipelines rely on a line detection algorithm to identify each line marking and perform a graph-based optimization to estimate the map.
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