341 research outputs found
Monocular Camera Localization for Automated Vehicles Using Image Retrieval
We address the problem of finding the current position and heading angle of
an autonomous vehicle in real-time using a single camera. Compared to methods
which require LiDARs and high definition (HD) 3D maps in real-time, the
proposed approach is easily scalable and computationally efficient, at the
price of lower precision.
The new method combines and adapts existing algorithms in three different
fields: image retrieval, mapping database, and particle filtering. The result
is a simple, real-time localization method using an image retrieval method
whose performance is comparable to other monocular camera localization methods
which use a map built with LiDARs.
We evaluate the proposed method using the KITTI odometry dataset and via
closed-loop experiments with an indoor 1:10 autonomous vehicle. The tests
demonstrate real-time capability and a 10cm level accuracy. Also, experimental
results of the closed-loop indoor tests show the presence of a positive
feedback loop between the localization error and the control error. Such
phenomena is analysed in details at the end of the article
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