Landmark based localization: LBA refinement using MCMC-optimized projections of RJMCMC-extracted road marks

@article{Soheilian2016LandmarkBL,
  title={Landmark based localization: LBA refinement using MCMC-optimized projections of RJMCMC-extracted road marks},
  author={Bahman Soheilian and Xiaozhi Qu and Mathieu Br{\'e}dif},
  journal={2016 IEEE Intelligent Vehicles Symposium (IV)},
  year={2016},
  pages={940-947}
}
Precise localization in dense urban areas is a challenging task for both mobile mapping and driver assistance systems. This paper proposes a strategy to use road markings as localization landmarks for vision based systems. First step consists in reconstructing a map of road marks. A mobile mapping system equipped with precise georeferencing devices is applied to scan the scene in 3D and to generate an ortho-image of the road surface. A RJMCMC sampler that is coupled with a simulated annealing… CONTINUE READING

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