도로 노면 정보를 이용한 그래프 기반 자율주행용 정밀지도 생성

다국어 초록 (Multilingual Abstract)

As location recognition for autonomous vehicles develops, the need for a precise map for autonomous driving has increased. A precise map must be built based upon accurate position. Recent studies have accelerated research in this area by using various sensors that calculate the accurate position by comparing and recognizing objects around the roads. However, application of such methods is limited because these studies only take objects with significant verticality into consideration. Thus, new research is needed to overcome the limitations: a method that is not constrained by the existence of certain types of surrounding objects shall be proposed. Most roads contain road marking information, such as lanes, direction signs, and pedestrian crossings. Such information on the road surface is a valuable resource for building a precise map. This paper proposes a method of building a precise map by using road marking information.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. GraphSLAM
• III. 도로 노면 정보 추출
• IV. 점유 격자 지도 생성 및 에지 측정치 계산
• V. 실험 결과
• VI. 결론
• REFERENCES

참고문헌 (Reference)

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4 A. U. Peker, "Particle filter vehicle localization and map-matching using map topology" IEEE 2011

5 E. Eade, "Monocular graph SLAM with complexity reduction" IEEE 2010

6 J. Levinson, "Map-based precision vehicle localization in urban environments" 4 : 2007

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11 G. Grisetti, "A tutorial on graph-based SLAM" 2 (2): 31-43, 2010

12 F. Abdallah, "A multiplehypothesis map-matching method suitable for weighted and box-shaped state estimation for localization" 12 (12): 1495-1510, 2011