Attention-based Vehicle Self-Localization with HD Feature Maps

Engel N, Belagiannis V, Dietmayer K (2021)

Publication Type: Conference contribution

Publication year: 2021

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2021-September

Pages Range: 76-83

Conference Proceedings Title: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Event location: Indianapolis, IN, USA

ISBN: 9781728191423

DOI: 10.1109/ITSC48978.2021.9564726

Abstract

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best association and incorporate local information between the point sets, we propose an attention mechanism that matches the measurements to the corresponding landmarks. Finally, we use this representation for the point-cloud registration and the subsequent pose regression task. Furthermore, we introduce a training simulation framework that artificially generates measurements and landmarks to facilitate the deployment process and reduce the cost of creating extensive datasets from real-world data. We evaluate our method on our dataset, as well as an adapted version of the Kitti odometry dataset, where we achieve superior performance compared to related approaches; and additionally show dominant generalization capabilities.

Authors with CRIS profile

Vasileios Belagiannis

Involved external institutions

Universität Ulm DE Germany (DE)

How to cite

APA:

Engel, N., Belagiannis, V., & Dietmayer, K. (2021). Attention-based Vehicle Self-Localization with HD Feature Maps. In IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC (pp. 76-83). Indianapolis, IN, USA: Institute of Electrical and Electronics Engineers Inc..

MLA:

Engel, Nico, Vasileios Belagiannis, and Klaus Dietmayer. "Attention-based Vehicle Self-Localization with HD Feature Maps." Proceedings of the 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021, Indianapolis, IN, USA Institute of Electrical and Electronics Engineers Inc., 2021. 76-83.

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