Research on automated valet parking scene visual feature map generation algorithm based on LiDAR SLAM

Hewei Guo

doi:10.1117/12.3009534

16 October 2023 Research on automated valet parking scene visual feature map generation algorithm based on LiDAR SLAM

Hewei Guo

Author Affiliations +

Proceedings Volume 12803, Fifth International Conference on Artificial Intelligence and Computer Science (AICS 2023); 128030X (2023) https://doi.org/10.1117/12.3009534
Event: 2023 5th International Conference on Artificial Intelligence and Computer Science (AICS 2023), 2023, Wuhan, China

Abstract

Automatic valet parking is a popular service provided by many car parks, which allows customers to park their cars without having to physically handle the parking process. In order to ensure the safety and efficiency of automatic valet parking, it is necessary to generate a visual feature map that reflects the current scene status. The visual feature map can be used to identify potential hazards and ensure that the car park is free of obstacles. The construction of visual feature maps is generally obtained offline, and can be acquired and processed after collecting data from professional survey vehicles equipped with multiple sensors including laser, vision, and IMU. In this paper, we propose an automated valet parking scene visual feature map generation algorithm based on LiDAR SLAM. The key steps include: calibration of visual and laser systems, generation of trajectories by fusing laser data with IMU measurements, and generation of visual feature map based on laser trajectory and visual images. The algorithm integrates the advantages of both LiDAR SLAM and visual feature mapping, and achieves high accuracy and efficiency in map generation.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Hewei Guo "Research on automated valet parking scene visual feature map generation algorithm based on LiDAR SLAM", Proc. SPIE 12803, Fifth International Conference on Artificial Intelligence and Computer Science (AICS 2023), 128030X (16 October 2023); https://doi.org/10.1117/12.3009534

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KEYWORDS

Visualization

Cameras

LIDAR

Sensors

Laser soldering

Matrices

Calibration

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