Wavelet Transform-Based High-Deﬁnition Map Construction From a Panoramic Camera

doi:10.1007/s12204-021-2346-9

J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (5): 569-576.doi: 10.1007/s12204-021-2346-9

• Intelligent Connected Vehicle • Previous Articles Next Articles

Wavelet Transform-Based High-Deﬁnition Map Construction From a Panoramic Camera

ZHUANG Hanyang^1,2 (庄瀚洋), ZHOU Xuejun³ (周学军), WANG Chunxiang^4,5 (王春香), QIAN Yuhan^5,6 (钱宇晗)

(1. University of Michigan - Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Guangxi Key Laboratory of Automobile Components and Vehicle Technology, Guangxi University of Science and Technology, Liuzhou 545006, Guangxi, China; 3. Noblelift Intelligent Equipment Co., Ltd., Huzhou 313100, Zhejiang, China; 4. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China; 5. Key Laboratory of System Control and Information Processing of Ministry of Education, Shanghai 200240, China; 6. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)

Received:2020-11-30 Online:2021-10-28 Published:2021-10-28

Abstract

Abstract: High-definition (HD) maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems. A complete ground orthophoto is usually used as the base image to construct the HD map. The ground orthophoto is obtained through inverse perspective transformation and image mosaicing. During the image mosaicing, multiple consecutive orthophotos are stitched together using pose information and image registration. In this study, wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image overlapping. In the orthophoto wavelet transform, high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local details. Experimental results show that the accuracy of the orthophotos generated using this method is improved.

Key words: high-de?nition (HD) map, wavelet transform, image registration, panorama

CLC Number:

TP 242.6

ZHUANG Hanyang (庄瀚洋), ZHOU Xuejun (周学军), WANG Chunxiang (王春香), QIAN Yuhan (钱宇晗). Wavelet Transform-Based High-Deﬁnition Map Construction From a Panoramic Camera[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 569-576.

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Wavelet Transform-Based High-Deﬁnition Map Construction From a Panoramic Camera

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