Semantic Image Alignment for Vehicle Localization
Herb M, Lemberger M, Schmitt MM, Kurz A, Weiherer T, Navab N, Tombari F (2021)
Publication Type: Conference contribution
Publication year: 2021
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 1124-1131
Conference Proceedings Title: IEEE International Conference on Intelligent Robots and Systems
Event location: Prague, CZE
ISBN: 9781665417143
DOI: 10.1109/IROS51168.2021.9636517
Abstract
Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense semantic maps, including vectorized high-definition maps or 3D meshes, using semantic segmentation from a monocular camera. We formulate the localization task as a direct image alignment problem on semantic images, which allows our approach to robustly track the vehicle pose in semantically labeled maps by aligning virtual camera views rendered from the map to sequences of semantically segmented camera images. In contrast to existing visual localization approaches, the system does not require additional keypoint features, handcrafted localization landmark extractors or expensive LiDAR sensors. We demonstrate the wide applicability of our method on a diverse set of semantic mesh maps generated from stereo or LiDAR as well as manually annotated HD maps and show that it achieves reliable and accurate localization in real-time.
Involved external institutions
Germany (DE)How to cite
APA:
Herb, M., Lemberger, M., Schmitt, M.M., Kurz, A., Weiherer, T., Navab, N., & Tombari, F. (2021). Semantic Image Alignment for Vehicle Localization. In IEEE International Conference on Intelligent Robots and Systems (pp. 1124-1131). Prague, CZE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Herb, Markus, et al. "Semantic Image Alignment for Vehicle Localization." Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, CZE Institute of Electrical and Electronics Engineers Inc., 2021. 1124-1131.
BibTeX: Download