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LEARNING A SIMILARITY MEASURE FOR VISION-BASED LOCALIZATION ON A HIGH DEFINITION (HD) MAP
LEARNING A SIMILARITY MEASURE FOR VISION-BASED LOCALIZATION ON A HIGH DEFINITION (HD) MAP
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机译:在高清晰度(HD)地图上学习基于视觉的本地化的相似性度量
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摘要
A captured image and corresponding observed pose data are captured or received. The captured image is captured by an image capturing device onboard a vehicle. The observed pose data is determined by a location sensor onboard the vehicle. The observed pose data indicates the pose of the vehicle when the image was captured. A map projection is generated based on map data and the observed pose data. The captured image and the map projection are analyzed by a pose metric network. The pose metric network determines a pose metric based on the analysis of the captured image and the map projection. The pose metric describes how similar the captured image is to the map projection.
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