摘要
Localization along fixed routes is the fundamental function of transportation applications,including patrol vehicles,shuttles,buses,and even passenger vehicles.To achieve accurate and reliable localization,we propose a tightly coupled A Priori Map Simultaneous Localization and Mapping(APM-SLAM)system.APM-SLAM provides a comprehensive and heterogeneous framework,encompassing both mapping and localization processes.The mapping stage leverages Global Navigation Satellite System(GNSS)-aided Structure from Motion(SfM)to establish reliable a priori maps with coarse-and fine-level components.The localization process integrates coarse-to-fine matching with Maximum A Posteriori(MAP)Probability estimation to refine pose accuracy.By incorporating deep learning-based features and point descriptors,our system maintains robustness even in scenarios with significant visual variation.Unlike traditional map-based approaches,APM-SLAM models the a priori map’s point structures as probabilistic distributions and incorporates them into the optimization process.Extensive experiments on public datasets demonstrate the superiority of our method in both mapping precision and localization accuracy,achieving decimeter-level translation precision.Ablation studies further validate the effectiveness of each component within our system.This work contributes to establishing maps and utilizing a priori information for localization simultaneously.
基金
supported by the Project from Shenzhen Science and Technology Innovation Commission(KJZD20230923114810022).
作者简介
Linsong Xue received the B.S.degree from the School of Computer Science and Technology,Dalian University of Technology,China,in 2022.He is currently pursuing the M.S.degree at the Shenzhen International Graduate School,Tsinghua University,China.His research interests include SLAM,visual reconstruction,deep learning,and intelligent transportation;Qi Luo received the B.S.degree in accounting from Southwest Jiaotong University,China,in 2022.She is currently pursuing the M.S.degree at the Shenzhen International Graduate School,Tsinghua University,China.Her main research interests include feature matching,SLAM,and end-to-end autonomous driving;Corresponding author:Kai Zhang received the B.E.and Ph.D.degrees from Department of Precision Instruments,Tsinghua University,China,in 1999,and 2004,respectively.His research interests include information fusion,highly accurate positioning,electric vehicles,and intelligent transportation systems.He is presently an Associate Professor at the Shenzhen International Graduate School,Tsinghua University.E-mail:zhangkai@sz.tsinghua.edu.cn。
