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W2797931772 abstract "In this paper, we studied a line-based SLAM method for road structure mapping using multi-beam LiDAR. We propose to use the polyline as the basic mapping element instead of grid cell or point cloud, because the line-based representation is precise and lightweight, and it can directly generate vector-based HD map as demanded by autonomous driving systems. We explored: 1) The extraction and vectorization of road structures based on local probabilistic fusion. 2) The efficient line-based matching between frames of vectorized road structures. A specified road structure, the road boundary, is taken as an example. The results testified the feasibility and effectiveness of the proposed method. We applied our proposed mapping system in three different scenes and achieved the average absolute matching error of 0.07m, the average relative matching error of 8.64%." @default.
W2797931772 created "2018-04-24" @default.
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W2797931772 date "2018-04-19" @default.
W2797931772 modified "2023-09-27" @default.
W2797931772 title "Line-based Road Structure Mapping Using Multi-beam LiDAR." @default.
W2797931772 hasPublicationYear "2018" @default.
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