Use este identificador para citar ou linkar para este item: http://repositorio.ufla.br/jspui/handle/1/49151
Título: Soft constrained autonomous vehicle navigation using gaussian processes and instance segmentation
Palavras-chave: Map-based Localization
Monocular Vision
Instance Segmentation
Gaussian Process
Constrained Particle Filter
Veículos autônomos
Visão Monocular
Segmentação de instância
Processo Gaussiano
Data do documento: Jan-2021
Editor: Cornell University
Citação: BARBOSA, B. H. G. et al. Soft constrained autonomous vehicle navigation using gaussian processes and instance segmentation. ArXiv, [S.I.], 2021. DOI: arxiv-2101.06901.
Resumo: This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft constraints. After obtaining features of mapped landmarks in instance-based segmented images acquired from a monocular camera, vehicle-to-landmark distances are predicted using Gaussian Process Regression (GPR) models in a mixture of experts approach. Both mean and variance outputs of GPR models are used for implementing adaptive constraints. Experimental results confirm that the use of image segmentation features improves the vehicle-to-landmark distance prediction notably, and that the proposed soft constrained approach reliably localizes the vehicle even with reduced number of landmarks and noisy observations.
URI: https://arxiv.org/abs/2101.06901
http://repositorio.ufla.br/jspui/handle/1/49151
Aparece nas coleções:DEG - Artigos publicados em periódicos

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