Vehicle self-localization using high-precision digital maps:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Aachen
Shaker
2013
|
| Series: | Berichte aus der Informatik
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | IX, 141 S. Ill., graph. Darst., Kt. |
| ISBN: | 9783844021462 |
Staff View
MARC
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| 100 | 1 | |a Schindler, Andreas |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Vehicle self-localization using high-precision digital maps |c Andreas Schindler |
| 264 | 1 | |a Aachen |b Shaker |c 2013 | |
| 300 | |a IX, 141 S. |b Ill., graph. Darst., Kt. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Berichte aus der Informatik | |
| 502 | |a Zugl.: Passau, Univ., Diss., 2013 | ||
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| 650 | 0 | 7 | |a Fahrerassistenzsystem |0 (DE-588)4622983-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Digitale Karte |0 (DE-588)4745787-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Fahrzeug |0 (DE-588)4016320-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a GPS |0 (DE-588)4216824-7 |2 gnd |9 rswk-swf |
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| 999 | |a oai:aleph.bib-bvb.de:BVB01-026868564 | ||
Record in the Search Index
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|---|---|
| adam_text | Contents
1
Introduction
3
1.1
Motivation
........................................
З
1.2
Contribution
...................................... 5
1.3
Outline
......................................... 6
2
Fundamentals
7
2.1
Arc splines
....................................... 7
2.1.1
Definitions
................................... 7
2.1.2
Properties of arc splines
............................ 11
2.1.3
Distance calculation to arc splines
...................... 12
2.2
State estimation
.................................... 14
2.2.1
Dynamic systems
................................ 14
2.2.2
State estimation algorithms
.......................... 16
3
Environment modeling
21
3.1
Coordinate systems
................................... 21
3.1.1
World frame
................................... 21
3.1.2
Navigation frame
................................ 22
3.1.3
Vehicle frame
.................................. 23
3.1.4
Sensor specific frames
............................. 24
3.2
Ego-vehicle model
................................... 25
3.2.1
Dynamic model of the ego-vehicle
....................... 25
4
Perception
29
4.1
Temporal and spatial interpretation of sensor data
................. 30
4.2
Lane recognition
.................................... 31
4.2.1
Camera modeling
................................ 31
4.2.2
Contour extraction
............................... 32
4.2.3
Local road model
................................ 33
4.3
Intrinsic vehicle measurements
............................ 38
4.4
Detection of landmarks using laser scanners
..................... 39
4.5
Satellite-based localization
............................... 39
4.5.1
GPS
....................................... 39
4.5.2
RTK-GPS
.................................... 40
5
Digital Map
41
5.1
Requirements analysis
................................. 42
5.1.1
Requirements from the applications side of view
.............. 42
5.1.2
Requirements from a technical point of view
................. 44
5.1.3
Map modeling approaches in the literature
.................. 46
5.2
Discussion of curve models
............................... 47
5.2.1
Polygons
..................................... 47
5.2.2
Clothoids
.................................... 48
5.2.3
Polynomial splines
............................... 49
5.2.4
Arc splines
................................... 49
5.2.5
Selection of arc splines
............................. 51
5.3
Modeling
........................................ 52
5.3.1
Separation of the elevation
........................... 52
5.3.2
Landmarks
................................... 52
5.3.3
Road markings
................................. 53
5.3.4
Lanes
...................................... 54
5.3.5
Digital map
/
map section
........................... 59
5.4
Map generation
..................................... 60
5.4.1
Data sources for the map generation
..................... 60
5.4.2
Preprocessing of measurement points
..................... 61
5.4.3
Generation of map elements
.......................... 63
5.5
Summary
........................................ 70
6
Self-localization
73
6.1
Localization approaches in the literature
....................... 74
6.2
Overview
........................................ 75
6.3
Initialization
...................................... 76
6.4
Map access
....................................... 76
6.5
Observation models
................................... 78
6.5.1
Observation model for road markings
..................... 78
6.5.2
Observation model for landmarks
....................... 84
6.5.3
Observation model for vehicle dynamics
................... 85
6.5.4
Observation model for GPS
.......................... 86
6.6
Resampling strategies
................................. 86
6.6.1
Resampling by prototype fitting
........................ 86
6.6.2
Resampling by map matching
......................... 88
7
Results
89
7.1
Results from the map generation
........................... 89
7.1.1
Approximation of clothoids
.......................... 89
7.1.2
Map building on a highway
.......................... 91
7.1.3
A iap building on a mountain road
....................... 94
7.1.4
Digital map in Ko-PER
............................ 96
7.2
Self-localization results
................................. 100
7.2.1
Implementation notes
............................. 100
7.2.2
Evaluation method
............................... 101
7.2.3
Results of the self-localization evaluation
................... 103
7.3
Resume
......................................... 117
7.4
Possible future work
.................................. 117
A Appendix
119
A.I Specification of the experimental vehicle
....................... 119
A.
2
Specification of the IDS uEYE camera
........................ 120
A.3 Specification of the SICK LD-MRS laser scanner
.................. 121
A.4 Specification of the Novatel OEMV GPS receiver
.................. 122
A.
5
Specification of the OXTS RT3003 reference positioning system
.......... 123
A.6 Specification of the
Leica GPS1200
system
...................... 124
Index
127
Bibliography
129
|
| any_adam_object | 1 |
| author | Schindler, Andreas |
| author_facet | Schindler, Andreas |
| author_role | aut |
| author_sort | Schindler, Andreas |
| author_variant | a s as |
| building | Verbundindex |
| bvnumber | BV041421496 |
| classification_rvk | ST 620 ZO 4260 |
| ctrlnum | (OCoLC)864599241 (DE-599)DNB1037711238 |
| dewey-full | 629.276 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.276 |
| dewey-search | 629.276 |
| dewey-sort | 3629.276 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Verkehr / Transport |
| format | Thesis Book |
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| id | DE-604.BV041421496 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:56:25Z |
| institution | BVB |
| isbn | 9783844021462 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-026868564 |
| oclc_num | 864599241 |
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| physical | IX, 141 S. Ill., graph. Darst., Kt. |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Shaker |
| record_format | marc |
| series2 | Berichte aus der Informatik |
| spelling | Schindler, Andreas Verfasser aut Vehicle self-localization using high-precision digital maps Andreas Schindler Aachen Shaker 2013 IX, 141 S. Ill., graph. Darst., Kt. txt rdacontent n rdamedia nc rdacarrier Berichte aus der Informatik Zugl.: Passau, Univ., Diss., 2013 Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Fahrerassistenzsystem (DE-588)4622983-8 gnd rswk-swf Digitale Karte (DE-588)4745787-9 gnd rswk-swf Fahrzeug (DE-588)4016320-9 gnd rswk-swf GPS (DE-588)4216824-7 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Fahrzeug (DE-588)4016320-9 s Lokalisierung Robotik (DE-588)7569134-6 s Fahrerassistenzsystem (DE-588)4622983-8 s GPS (DE-588)4216824-7 s Umweltmodell Informatik (DE-588)4250471-5 s Digitale Karte (DE-588)4745787-9 s DE-604 Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026868564&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Schindler, Andreas Vehicle self-localization using high-precision digital maps Umweltmodell Informatik (DE-588)4250471-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Fahrerassistenzsystem (DE-588)4622983-8 gnd Digitale Karte (DE-588)4745787-9 gnd Fahrzeug (DE-588)4016320-9 gnd GPS (DE-588)4216824-7 gnd |
| subject_GND | (DE-588)4250471-5 (DE-588)7569134-6 (DE-588)4622983-8 (DE-588)4745787-9 (DE-588)4016320-9 (DE-588)4216824-7 (DE-588)4113937-9 |
| title | Vehicle self-localization using high-precision digital maps |
| title_auth | Vehicle self-localization using high-precision digital maps |
| title_exact_search | Vehicle self-localization using high-precision digital maps |
| title_full | Vehicle self-localization using high-precision digital maps Andreas Schindler |
| title_fullStr | Vehicle self-localization using high-precision digital maps Andreas Schindler |
| title_full_unstemmed | Vehicle self-localization using high-precision digital maps Andreas Schindler |
| title_short | Vehicle self-localization using high-precision digital maps |
| title_sort | vehicle self localization using high precision digital maps |
| topic | Umweltmodell Informatik (DE-588)4250471-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Fahrerassistenzsystem (DE-588)4622983-8 gnd Digitale Karte (DE-588)4745787-9 gnd Fahrzeug (DE-588)4016320-9 gnd GPS (DE-588)4216824-7 gnd |
| topic_facet | Umweltmodell Informatik Lokalisierung Robotik Fahrerassistenzsystem Digitale Karte Fahrzeug GPS Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026868564&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT schindlerandreas vehicleselflocalizationusinghighprecisiondigitalmaps |