Visual Map-based Localization applied to Autonomous Vehicles
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
This thesis is carried out in the context of Advanced Driver Assistance Systems, and especially autonomous vehicles. Its aim is to propose a method to enhance localization of vehicles on roads. I suggests using a camera to detect lane markings, and to match these to a map to extract the corrected position of the vehicle.The thesis is divided in three parts dealing with: the map, the line detector and the evaluation. The map is based on the OpenStreetMap data. The line detector is a based on ridge detection. The results are compared with an Iterative Closest Point algorithm. It also focuses on implementing the components under a real-time constraint. Technologies such as ROS, for synchronization of the data, and CUDA, for parallelization, are used.
Place, publisher, year, edition, pages
localization, line detection, autonomous vehicle, adas, OpenStreetMap
IdentifiersURN: urn:nbn:se:kth:diva-174890OAI: oai:DiVA.org:kth-174890DiVA: diva2:859759