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Mapping and Localization in Urban Environments Using Cameras

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Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731501350 Year: Volume: 028 Pages: VIII, 116 p. DOI: 10.5445/KSP/1000037227 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:02:00
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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.

Omnidirectional Stereo Vision for Autonomous Vehicles

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Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731503576 Year: Volume: 032 Pages: XV, 125 p. DOI: 10.5445/KSP/1000046298 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:57
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Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications.

Adaptive State

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Book Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe ISSN: 18636489 ISBN: 9783731505808 Year: Volume: 27 Pages: XXV, 241 p. DOI: 10.5445/KSP/1000058693 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:02:00
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Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state

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