Accurate Visual Simultaneous Localization and Mapping (SLAM) against Around View Monitor (AVM) Distortion Error Using Weighted Generalized Iterative Closest Point (GICP)

Accurately estimating the pose of a vehicle is important for autonomous parking. The study of around view monitor (AVM)-based visual Simultaneous Localization and Mapping (SLAM) has gained attention due to its affordability, commercial availability, and suitability for parking scenarios characterized by rapid rotations and back-and-forth movements of the vehicle. In real-world environments, however, the performance of AVM-based visual SLAM is degraded by AVM distortion errors resulting from an inaccurate camera calibration. Therefore, this paper presents an AVM-based visual SLAM for autonomous parking which is robust against AVM distortion errors. A deep learning network is employed to assign weights to parking line features based on the extent of the AVM distortion error. To obtain training data while minimizing human effort, three-dimensional (3D) Light Detection and Ranging (LiDAR) data and official parking lot guidelines are utilized. The output of the trained network model is incorporated into weighted Generalized Iterative Closest Point (GICP) for vehicle localization under distortion error conditions. The experimental results demonstrate that the proposed method reduces localization errors by an average of 39% compared with previous AVM-based visual SLAM approaches.