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基于语义似然与高精度地图匹配的智能车辆同时定位与检测
赖国良
1
,
2
, 胡钊政
1
,
2
(
), 周哲
2
,
3
, 万金杰
1
,
2
, 任靖渊
1
,
2
Simultaneous Detection and Localization for Intelligent Vehicles Based on HD Map Matching and Semantic Likelihood Model
LAI Guoliang
1
,
2
, HU Zhaozheng
1
,
2
(
), ZHOU Zhe
2
,
3
, WAN Jinjie
1
,
2
, REN Jingyuan
1
,
2
图9.
城市道路场景
Fig.9.
Test road in urban scenario