This article presents a practical solution for fast and precise localization of a vehicle's position and orientation with respect to stop sign controlled intersections based on video sequences and mapped data. It consists of two steps. First, an intersection map is generated offline based on street-level imagery and GPS data, collected by a vehicle driving through an intersection from different directions. The map contains both landmarks for localization and information about stop line positions. This information is used in the second step to precisely and efficiently derive a vehicle's pose in real-time when approaching a mapped intersection. At this point, we only need coarse GPS information to be able to load the proper map data.


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    Title :

    Fast and precise localization at stop intersections


    Contributors:


    Publication date :

    2013-06-01


    Size :

    1856909 byte



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    FAST AND PRECISE LOCALIZATION AT STOP INTERSECTIONS

    Barth, A. / Siegemund, J. / Schwehr, J. et al. | British Library Conference Proceedings | 2013


    Fast and precise localization at stop intersections

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    Stop, Yield, and No Control at Intersections

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    Unsignalized Intersections: Two-Way STOP Control (TWSC)

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