Autonomous map query:robust visual localization in urban environments using Multilayer Feature Graph  

作　　者：李海丰 Wang Hongpeng Liu Jingtai 

机构地区：[1]College of Computer Science and Technology,Civil Aviation University of China [2]Insititute of Robotics and Automatic Information System,Nankai University

出　　处：《High Technology Letters》2015年第1期31-38,共8页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Program of China(No.2012AA041403);National Natural Science Foundation of China(No.60905061,61305107);the Fundamental Research Funds for the Central Universities(No.ZXH2012N003);the Scientific Research Funds for Civil Aviation University of China(No.2012QD23x)

摘　　要：When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images. Multilayer feature graphs （MFG） is employed to model building facades from the ground images. MFG was reported in the previous work to facilitate the robot scene understand- ing in urhan areas. By constructing MFG, the 2D/3D positions of features can be obtained, inclu- cling line segments, ideal lines, and all primary vertical planes. Finally, a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map. The proposed method has been implemented and validated in physical experiments. In the proposed ex- periments, the algorithm has achieved an overall localization accuracy of 2.2m, which is better than commercial GPS working in open environments.When a vehicle travels in urban areas,onboard global positioning system(GPS) signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions.It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images.Multilayer feature graphs(MFG) is employed to model building facades from the ground images.MFG was reported in the previous work to facilitate the robot scene understanding in urban areas.By constructing MFG,the 2D/3D positions of features can be obtained,including line segments,ideal lines,and all primary vertical planes.Finally,a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map.The proposed method has been implemented and validated in physical experiments.In the proposed experiments,the algorithm has achieved an overall localization accuracy of 2.2m,which is better than commercial GPS working in open environments.

关 键 词：visual localization urban environment multilayer feature graph（ MFG） voting- based method 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] P231.5[自动化与计算机技术—计算机科学与技术]