DA-LMR: A Robust Lane Marking Representation for Data Association [article]

Miguel Ángel Muñoz-Bañón, Jan-Hendrik Pauls, Haohao Hu, Christoph Stiller
2022 arXiv   pre-print
While complete localization approaches are widely studied in the literature, their data association and data representation subprocesses usually go unnoticed. However, both are a key part of the final pose estimation. In this work, we present DA-LMR (Delta-Angle Lane Marking Representation), a robust data representation in the context of localization approaches. We propose a representation of lane markings that encodes how a curve changes in each point and includes this information in an
more » ... nal dimension, thus providing a more detailed geometric structure description of the data. We also propose DC-SAC (Distance-Compatible Sample Consensus), a data association method. This is a heuristic version of RANSAC that dramatically reduces the hypothesis space by distance compatibility restrictions. We compare the presented methods with some state-of-the-art data representation and data association approaches in different noisy scenarios. The DA-LMR and DC-SAC produce the most promising combination among those compared, reaching 98.1% in precision and 99.7% in recall for noisy data with 0.5 m of standard deviation.
arXiv:2111.09230v2 fatcat:kd7dtvcmdzblvhaiekeovyuoqi