Autonomous map query： robust visual localization in urban environments using Multilayer Feature Gra

• 作 者: 李海丰 Wang Hongpeng Liu Jingtai
• 机 构: CollegeofComputerScienceandTechnology,InsitituteofRoboticsandAutomaticInformationSystem
• 出 处: 高技术通讯：英文版
• 发表日期: 2015年1期
• 关键词: 地图查询 城市环境 特征图 本地化 自治区 全球定位系统 高层建筑物 可视 visual localization urban environment mu
• 基金项目: Supported by the National High Technology Research and Development Program of China （ No. 2012AA041403 ）, National Natural Science FolJndation of China （ No. 60905061, 61305107）, the Fundamental Resea

When a vehicle travels in urban areas,onboard global positioning system(GPS) signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions.It is proposed to perform localization by registering ground images to a 2D buildin