Data-driven protection levels for camera and 3D map-based safe urban localization/ (Record no. 40974)
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000 -LEADER | |
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fixed length control field | 01675cam a2200157 4500 |
100 1# - MAIN ENTRY--PERSONAL NAME | |
Personal name | GUPTA Shubh |
245 ## - TITLE STATEMENT | |
Title | Data-driven protection levels for camera and 3D map-based safe urban localization/ |
Statement of responsibility, etc. | Shubh Gupta and Grace Gao |
260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
Date of publication, distribution, etc. | 2021 |
520 ## - SUMMARY, ETC. | |
Summary, etc. | Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper bounds on position error. However, GNSS signals might be reflected or blocked in urban environments, and thus additional sensor modalities need to be considered to determine PLs. In this paper, we propose an approach for computing PLs by matching camera image measurements to a LiDAR-based 3D map of the environment. We specify a Gaussian mixture model probability distribution of position error using deep neural-network-based data-driven models and statistical outlier weighting techniques. From the probability distribution, we compute PL by evaluating the position error bound using numerical line-search methods. Through experimental validation with real-world data, we demonstrate that the PLs computed from our method are reliable bounds on the position error in urban environments. |
598 ## - BULLETIN HEADING | |
Bulletin Heading | IT, TECHNOLOGY |
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
Topical term or geographic name entry element | DEEP LEARNING |
General subdivision | IMAGE REGISTRATION |
-- | INTEGRITY MONITORING |
-- | LOCALIZATION SAFETY |
-- | PROTECTION LEVEL |
-- | VISION-BASED LOCALIZATION |
700 ## - ADDED ENTRY--PERSONAL NAME | |
Personal name | GAO Grace |
773 ## - HOST ITEM ENTRY | |
Main entry heading | Navigation : |
Related parts | Vol 68 No 3, Fall 2021, pp.643-660 (43) |
856 ## - ELECTRONIC LOCATION AND ACCESS | |
Uniform Resource Identifier | <a href="https://www.ion.org/publications/abstract.cfm?articleID=102928">https://www.ion.org/publications/abstract.cfm?articleID=102928</a> |
Public note | Click here for more |
945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
i | 66856.1001 |
r | Y |
s | Y |
Withdrawn status | Lost status | Source of classification or shelving scheme | Damaged status | Not for loan | Home library | Current library | Shelving location | Date acquired | Total checkouts | Full call number | Barcode | Date last seen | Copy number | Price effective from | Koha item type |
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Mindef Library & Info Centre | Mindef Library & Info Centre | Journals | 18/03/2022 | IT | 66856.1001 | 03/01/2024 | 1 | 03/01/2024 | Journal Article |