Integrating metric and semantic maps for vision-only automated parking

@article{Grimmett2015IntegratingMA,
  title={Integrating metric and semantic maps for vision-only automated parking},
  author={Hugo Grimmett and Mathias B{\"u}rki and Lina Mar{\'i}a Paz and Pedro Pinies and Paul Timothy Furgale and Ingmar Posner and Paul Newman},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={2159-2166}
}
We present a framework for integrating two layers of map which are often required for fully automated operation: metric and semantic. Metric maps are likely to improve with subsequent visitations to the same place, while semantic maps can comprise both permanent and fluctuating features of the environment. However, it is not clear from the state of the art how to update the semantic layer as the metric map evolves. The strengths of our method are threefold: the framework allows for the… CONTINUE READING
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