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Recognising place under distinct weather variability, a comparison between end-to-end and metric learning approaches
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Role, Stephane, Marnerides, Demetris, Debattista, Kurt, Cavazzi, Stefano and Dianati, Mehrdad (2022) Recognising place under distinct weather variability, a comparison between end-to-end and metric learning approaches. In: 2022 IEEE Intelligent Vehicles Symposium (IV), Aachen, Germany, 04-09 Jun 2022. Published in: 2022 IEEE Intelligent Vehicles Symposium (IV) ISBN 9781665488211. doi:10.1109/iv51971.2022.9827123
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Official URL: https://doi.org/10.1109/IV51971.2022.9827123
Abstract
Autonomous driving requires robust and accurate real time localisation information to navigate and perform trajectory planning. Although Global Navigation Satellite Systems (GNSS) are most frequently used in this application, they are unreliable within urban environments because of multipath and non-line-of-sight errors. Alternative solutions exist that exploit rich visual content from images that can be corresponded with a stored representation, such as a map, to determine the vehicles location. However, one major cause of reduced location accuracy are variations in environmental conditions between the images captured and those stored in the representation. We tackle this issue directly by collecting a simulated and real-world dataset captured over a single route under multiple environmental conditions. We demonstrate the effectiveness of an end-to-end approach in recognising place and by extension determining vehicle location.
| Item Type: | Conference Item (Paper) | ||||||
|---|---|---|---|---|---|---|---|
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||
| SWORD Depositor: | Library Publications Router | ||||||
| Journal or Publication Title: | 2022 IEEE Intelligent Vehicles Symposium (IV) | ||||||
| Publisher: | IEEE | ||||||
| ISBN: | 9781665488211 | ||||||
| Official Date: | 19 August 2022 | ||||||
| Dates: |
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| DOI: | 10.1109/iv51971.2022.9827123 | ||||||
| Status: | Peer Reviewed | ||||||
| Publication Status: | Published | ||||||
| Conference Paper Type: | Paper | ||||||
| Title of Event: | 2022 IEEE Intelligent Vehicles Symposium (IV) | ||||||
| Type of Event: | Conference | ||||||
| Location of Event: | Aachen, Germany | ||||||
| Date(s) of Event: | 04-09 Jun 2022 |
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