In this paper we present a general framework for urban road layout estimation, altogether with a specific application to the vehicle localization problem. The localization is performed by synergically exploiting data from different sensors, as well as map-matching with OpenStreetMap cartographic maps. The effectiveness is proven by achieving real-time computation with state-of-the-art results on a set of ten not trivial runs from the KITTI dataset, including both urban/residential and highway/road scenarios. Although this paper represents a first step implementation towards a more general urban scene understanding framework, here we prove its flexibility of application to different intelligent vehicles applications.

Ballardini, A., Fontana, S., Furlan, A., Limongi, D., Sorrenti, D. (2015). A Framework for Outdoor Urban Environment Estimation. In Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on (pp.2721-2727). Institute of Electrical and Electronics Engineers Inc. [10.1109/ITSC.2015.437].

A Framework for Outdoor Urban Environment Estimation

BALLARDINI, AUGUSTO LUIS
Primo
;
FONTANA, SIMONE
Penultimo
;
FURLAN, AXEL
Secondo
;
SORRENTI, DOMENICO GIORGIO
Ultimo
2015

Abstract

In this paper we present a general framework for urban road layout estimation, altogether with a specific application to the vehicle localization problem. The localization is performed by synergically exploiting data from different sensors, as well as map-matching with OpenStreetMap cartographic maps. The effectiveness is proven by achieving real-time computation with state-of-the-art results on a set of ten not trivial runs from the KITTI dataset, including both urban/residential and highway/road scenarios. Although this paper represents a first step implementation towards a more general urban scene understanding framework, here we prove its flexibility of application to different intelligent vehicles applications.
No
slide + paper
Scene Understanding, Autonomous Driving, Cartographic Maps, OpenStreetMap, Global Positioning System, Layout, Probabilistic logic, Roads, Sensors, Vehicles, Buildings
English
Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on 15/18 September
9781467365956
Ballardini, A., Fontana, S., Furlan, A., Limongi, D., Sorrenti, D. (2015). A Framework for Outdoor Urban Environment Estimation. In Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on (pp.2721-2727). Institute of Electrical and Electronics Engineers Inc. [10.1109/ITSC.2015.437].
Ballardini, A; Fontana, S; Furlan, A; Limongi, D; Sorrenti, D
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/93801
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