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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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Title: Appearance-based Vehicle Localization across Seasons in a Metric Map
Committee:
Dr. Frank Dellaert, CS, Chair , Advisor
Dr. Anthony Yezzi, ECE, Co-Advisor
Dr. Jim Regh, IC
Dr. Patricio Vela, ECE
Dr. Henrik Chistensen, ECE
Dr. Gabe Sibey, CU Boulder Computer Science
Abstract:
This dissertation presents a vision-only approach to the outdoor localization problem. The system provides for real-time, metric localization of a moving camera (on a vehicle) in a pre-built 3D map, which is inherently robust with respect to appearance changes. This is achieved by utilizing a novel spatio-temporal map (STM) representation which is built up from multiple drives worth of stereo camera data, as well as a localization module which efficiently retrieves landmarks from the STM to perform appearance-based localization in real-time. The map encodes the landmark visibility structure of the datasets which were captured to build the map, and this structure is then exploited for efficient localization. Experiments on real data validate that the proposed method works better than conventional approaches.
