LAPS-II: 6-DoF day and night visual localisation with prior 3D structure for autonomous road vehicles

@article{Maddern2014LAPSII6D,
  title={LAPS-II: 6-DoF day and night visual localisation with prior 3D structure for autonomous road vehicles},
  author={William P. Maddern and Alexander D. Stewart and Paul Newman},
  journal={2014 IEEE Intelligent Vehicles Symposium Proceedings},
  year={2014},
  pages={330-337}
}
Robust and reliable visual localisation at any time of day is an essential component towards low-cost autonomy for road vehicles. We present a method to perform online 6-DoF visual localisation across a wide range of outdoor illumination conditions throughout the day and night using a 3D scene prior collected by a survey vehicle. We propose the use of a one-dimensional illumination invariant colour space which stems from modelling the spectral properties of the camera and scene illumination in… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 24 CITATIONS

Localisation using the appearance of prior structure

VIEW 6 EXCERPTS
CITES METHODS & BACKGROUND

Visual-Inertial Localization With Prior LiDAR Map Constraints

  • IEEE Robotics and Automation Letters
  • 2019
VIEW 1 EXCERPT
CITES METHODS

ShadowCam: Real-Time Detection of Moving Obstacles Behind A Corner For Autonomous Vehicles

  • 2018 21st International Conference on Intelligent Transportation Systems (ITSC)
  • 2018
VIEW 1 EXCERPT
CITES BACKGROUND

Dark channel based illumination invariant feature detection

  • 2017 18th International Conference on Advanced Robotics (ICAR)
  • 2017

OpenABLE: An open-source toolbox for application in life-long visual localization of autonomous vehicles

  • 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)
  • 2016
VIEW 1 EXCERPT
CITES METHODS

References

Publications referenced by this paper.
SHOWING 1-10 OF 31 REFERENCES

Study of the photodetector characteristics of a camera for color constancy in natural scenes.

  • Journal of the Optical Society of America. A, Optics, image science, and vision
  • 2010
VIEW 4 EXCERPTS
HIGHLY INFLUENTIAL

Color constancy at a pixel.

  • Journal of the Optical Society of America. A, Optics, image science, and vision
  • 2001
VIEW 3 EXCERPTS
HIGHLY INFLUENTIAL

Cross-calibration of push-broom 2D LIDARs and cameras in natural scenes

  • 2013 IEEE International Conference on Robotics and Automation
  • 2013
VIEW 1 EXCERPT

Towards illumination invariance for visual localization

  • 2013 IEEE International Conference on Robotics and Automation
  • 2013
VIEW 1 EXCERPT

Are we ready for autonomous driving? The KITTI vision benchmark suite

  • 2012 IEEE Conference on Computer Vision and Pattern Recognition
  • 2012
VIEW 1 EXCERPT