Data-driven protection levels for camera and 3D map-based safe urban localization/ (Record no. 40974)

MARC details
000 -LEADER
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
Holdings
Withdrawn status Lost status Source of classification or shelving scheme Damaged status Not for loan Home library Current library Shelving location Date acquired Total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
          Mindef Library & Info Centre Mindef Library & Info Centre Journals 18/03/2022   IT 66856.1001 03/01/2024 1 03/01/2024 Journal Article