论文标题
自主驾驶的高清地图生成技术
High-Definition Map Generation Technologies For Autonomous Driving
论文作者
论文摘要
在过去的几年中，自动驾驶一直是最受欢迎，最具挑战性的主题之一。在实现完全自治的道路上，研究人员利用了各种传感器，例如LIDAR，相机，惯性测量单元（IMU）和GPS，并为自动驾驶应用程序（例如对象检测，对象段，障碍，避免障碍物避免和路径计划）开发了智能算法。近年来，高清（HD）地图引起了很多关注。由于本地化中高清图的精度和信息性水平很高，因此它立即成为自动驾驶的关键组成部分之一。从Baidu Apollo，Nvidia和Tomtom等大型组织到个别研究人员，研究人员为自主驾驶的不同场景和用途创建了高清地图。有必要查看高清图生成的最新方法。本文回顾了最新的高清图生成技术，这些技术利用了2D和3D地图生成。这篇评论介绍了高清图的概念及其在自动驾驶中的有用性，并详细概述了高清地图生成技术。我们还将讨论当前高清图生成技术的局限性，以激发未来的研究。
Autonomous driving has been among the most popular and challenging topics in the past few years. On the road to achieving full autonomy, researchers have utilized various sensors, such as LiDAR, camera, Inertial Measurement Unit (IMU), and GPS, and developed intelligent algorithms for autonomous driving applications such as object detection, object segmentation, obstacle avoidance, and path planning. High-definition (HD) maps have drawn lots of attention in recent years. Because of the high precision and informative level of HD maps in localization, it has immediately become one of the critical components of autonomous driving. From big organizations like Baidu Apollo, NVIDIA, and TomTom to individual researchers, researchers have created HD maps for different scenes and purposes for autonomous driving. It is necessary to review the state-of-the-art methods for HD map generation. This paper reviews recent HD map generation technologies that leverage both 2D and 3D map generation. This review introduces the concept of HD maps and their usefulness in autonomous driving and gives a detailed overview of HD map generation techniques. We will also discuss the limitations of the current HD map generation technologies to motivate future research.
