HD Map Errors Detection using Smoothing and Multiple Drives - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2021

HD Map Errors Detection using Smoothing and Multiple Drives

Résumé

High Definition (HD) maps enable autonomous vehicles to not only navigate roads but also localize. Using perception sensors such as cameras or lidars, map features can be detected and used for localization. The accuracy of vehicle localization is directly influenced by the accuracy of the features. It is therefore essential for the localization system to be able to detect erroneous map features. In this paper, an approach using Kalman smoothing with observation residuals is presented to address this issue. A covariance intersection of the residuals is proposed to manage their unknown correlation. The method also leverages the information of multiple runs to improve the detection of small errors. The performance of the method is evaluated using experimental data recorded on public roads with erroneous road signs. Our results allow to evaluate the gain of detection brought during successive drives.
Fichier principal
Vignette du fichier
2021_IV_Map_error_detection.pdf (1.41 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03521309 , version 1 (11-01-2022)

Identifiants

  • HAL Id : hal-03521309 , version 1

Citer

Anthony Welte, Philippe Xu, Philippe Bonnifait, Clément Zinoune. HD Map Errors Detection using Smoothing and Multiple Drives. 32nd IEEE Intelligent Vehicles Symposium (IV 2021), Jul 2021, Nagoya, Japan. pp.37-42. ⟨hal-03521309⟩
27 Consultations
190 Téléchargements

Partager

Gmail Facebook X LinkedIn More