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Vehicle Localization Using 3D Building Models and Point Cloud Matching
Detecting buildings in the surroundings of an urban vehicle and matching them to building models available on map services is an emerging trend in robotics localization for urban vehicles. In this paper, we present a novel technique, which improves a previous work by detecting building façade, their...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8399152/ https://www.ncbi.nlm.nih.gov/pubmed/34450798 http://dx.doi.org/10.3390/s21165356 |
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author | Ballardini, Augusto Luis Fontana, Simone Cattaneo, Daniele Matteucci, Matteo Sorrenti, Domenico Giorgio |
author_facet | Ballardini, Augusto Luis Fontana, Simone Cattaneo, Daniele Matteucci, Matteo Sorrenti, Domenico Giorgio |
author_sort | Ballardini, Augusto Luis |
collection | PubMed |
description | Detecting buildings in the surroundings of an urban vehicle and matching them to building models available on map services is an emerging trend in robotics localization for urban vehicles. In this paper, we present a novel technique, which improves a previous work by detecting building façade, their positions, and finding the correspondences with their 3D models, available in OpenStreetMap. The proposed technique uses segmented point clouds produced using stereo images, processed by a convolutional neural network. The point clouds of the façades are then matched against a reference point cloud, produced extruding the buildings’ outlines, which are available on OpenStreetMap (OSM). In order to produce a lane-level localization of the vehicle, the resulting information is then fed into our probabilistic framework, called Road Layout Estimation (RLE). We prove the effectiveness of this proposal, testing it on sequences from the well-known KITTI dataset and comparing the results concerning a basic RLE version without the proposed pipeline. |
format | Online Article Text |
id | pubmed-8399152 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-83991522021-08-29 Vehicle Localization Using 3D Building Models and Point Cloud Matching Ballardini, Augusto Luis Fontana, Simone Cattaneo, Daniele Matteucci, Matteo Sorrenti, Domenico Giorgio Sensors (Basel) Article Detecting buildings in the surroundings of an urban vehicle and matching them to building models available on map services is an emerging trend in robotics localization for urban vehicles. In this paper, we present a novel technique, which improves a previous work by detecting building façade, their positions, and finding the correspondences with their 3D models, available in OpenStreetMap. The proposed technique uses segmented point clouds produced using stereo images, processed by a convolutional neural network. The point clouds of the façades are then matched against a reference point cloud, produced extruding the buildings’ outlines, which are available on OpenStreetMap (OSM). In order to produce a lane-level localization of the vehicle, the resulting information is then fed into our probabilistic framework, called Road Layout Estimation (RLE). We prove the effectiveness of this proposal, testing it on sequences from the well-known KITTI dataset and comparing the results concerning a basic RLE version without the proposed pipeline. MDPI 2021-08-09 /pmc/articles/PMC8399152/ /pubmed/34450798 http://dx.doi.org/10.3390/s21165356 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Ballardini, Augusto Luis Fontana, Simone Cattaneo, Daniele Matteucci, Matteo Sorrenti, Domenico Giorgio Vehicle Localization Using 3D Building Models and Point Cloud Matching |
title | Vehicle Localization Using 3D Building Models and Point Cloud Matching |
title_full | Vehicle Localization Using 3D Building Models and Point Cloud Matching |
title_fullStr | Vehicle Localization Using 3D Building Models and Point Cloud Matching |
title_full_unstemmed | Vehicle Localization Using 3D Building Models and Point Cloud Matching |
title_short | Vehicle Localization Using 3D Building Models and Point Cloud Matching |
title_sort | vehicle localization using 3d building models and point cloud matching |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8399152/ https://www.ncbi.nlm.nih.gov/pubmed/34450798 http://dx.doi.org/10.3390/s21165356 |
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