论文标题
自主横向控制的中心线估算的进步
Advances in centerline estimation for autonomous lateral control
论文作者
论文摘要
自动驾驶汽车在其道路车道内保持准确轨迹的能力对于安全操作至关重要。这需要检测道路线并估算其车道内的汽车相对姿势。通常从相机图像中检索侧线。尽管如此，大多数在线检测中的作品都限于图像蒙版检索，并且在世界坐标中不提供可用的表示。我们在本文中提出的是基于单眼视觉的完整感知管道，并能够检索车辆横向控制系统所需的所有信息：路线方程，中心线，车辆标题和横向位移。我们通过以准确的几何基础真理获取数据来评估我们的系统。为了作为进一步研究的基准，我们在http://airlab.deib.polimi.it.it/datasets/上公开提供该新数据集。
The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are usually retrieved from camera images. Still, most of the works on line detection are limited to image mask retrieval and do not provide a usable representation in world coordinates. What we propose in this paper is a complete perception pipeline based on monocular vision and able to retrieve all the information required by a vehicle lateral control system: road lines equation, centerline, vehicle heading and lateral displacement. We evaluate our system by acquiring data with accurate geometric ground truth. To act as a benchmark for further research, we make this new dataset publicly available at http://airlab.deib.polimi.it/datasets/.
