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Evaluation of fisheye-camera based visual multi-session localization in a real-world scenario
Volkswagen AG, Group Research, Germany.
Autonomous Systems Lab, ETH Zürich, Switzerland.
Volkswagen AG, Group Research, Germany.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0003-3513-8854
2013 (English)In: Intelligent Vehicles Symposium (IV), 2013 IEEE Workshop (IV Workshops) June 23, 2013, Gold Coast, Australia, Piscataway, NJ: IEEE Operations Center , 2013, p. 57-62, article id 6615226Conference paper, Published paper (Refereed)
Abstract [en]

The European V-Charge project seeks to develop fully automated valet parking and charging of electric vehicles using only low-cost sensors. One of the challenges is to implement robust visual localization using only cameras and stock vehicle sensors. We integrated four monocular, wide-angle, fisheye cameras on a consumer car and implemented a mapping and localization pipeline. Visual features and odometry are combined to build and localize against a keyframe-based three dimensional map. We report results for the first stage of the project, based on two months worth of data acquired under varying conditions, with the objective of localizing against a map created offline. © 2013 IEEE.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Operations Center , 2013. p. 57-62, article id 6615226
Series
IEEE Intelligent Vehicles Symposium, ISSN 1931-0587
Keywords [en]
Fish-eye cameras, Fully automated, Low-cost sensors, Mapping and localization, Real-world scenario, Three-dimensional maps, Vehicle sensors, Visual localization, Intelligent vehicle highway systems, Cameras
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:hh:diva-37067DOI: 10.1109/IVWorkshops.2013.6615226Scopus ID: 2-s2.0-84887227488OAI: oai:DiVA.org:hh-37067DiVA, id: diva2:1229793
Conference
IEEE Intelligent Vehicles Symposium, June 23, 2013, Gold Coast, Australia
Available from: 2018-07-02 Created: 2018-07-02 Last updated: 2018-07-02Bibliographically approved

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Philippsen, Roland

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf