Mapping and Localization in Urban Environments Using Cameras

In this work we present a system to fully automatically create a highly accurate visual feature map from image data aquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.

Author: Henning Lategahn

Publisher: Karlsruher Institut Fur Technologie

Publication Date: Sep 03, 2014

Number of Pages: 144 pages

Binding: Paperback or Softback

ISBN-10: 373150135X

ISBN-13: 9783731501350