Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction

Louis Lecrosnier (1) , Rémi Boutteau (1) , Pascal Vasseur (2) , Xavier Savatier (1, 3) , Friedrich Fraundorfer (4)

1 Pôle Instrumentation, Informatique et Systèmes
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290
3 IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués
4 Institute of Computer Graphics and Vision [Graz]

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Robotique [cs.RO]

Louis Lecrosnier, Rémi Boutteau, Pascal Vasseur, Xavier Savatier, Friedrich Fraundorfer. Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction. 2019 IEEE Intelligent Transportation Systems Conference - ITSC, Oct 2019, Auckland, New Zealand. pp.1263-1269, ⟨10.1109/ITSC.2019.8916886⟩. ⟨hal-02388633⟩