Visual Semantic Localization based on HD Map for Autonomous Vehicles in Urban Scenarios
Huayou Wang Changliang Xue Yanxing Zhou Feng Wen Hongbo Zhang Huayou Wang Changliang Xue Yanxing Zhou Feng Wen Hongbo Zhang
Highly accurate and robust localization ability is of great importance for autonomous vehicles (AVs) in urban scenarios. Traditional vision-based methods suffer from lost due to illumination, weather, viewing and appearance changes. In this paper we propose a novel visual semantic localization algorithm based on HD map and semantic features which are compact in representation. Semantic features ar...