This paper presents a localization system that uses infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We describe the camera and beacon design as well as the image processing pipeline in detail. In our experiments, we investigate and demonstrate the ability of the system to recognize our beacons in both daytime and nighttime conditions. High precision localization is a key enabler for automated vehicles but remains unsolved, despite strong recent improvements. Our low-cost, infrastructure-based approach helps solve the localization problem. All datasets are made available.
翻译:本文展示了一个使用红外信标的本地化系统,以及一个配备光学带宽过滤器的相机。我们的系统可以可靠地探测和识别100米距离的单个信标,而不论照明条件如何。我们详细描述相机和信标的设计以及图像处理管道。在我们的实验中,我们调查并展示了系统在白天和夜间条件下辨识我们的信标的能力。高精密定位是自动车辆的关键推进器,但尽管最近有了很大的改进,但仍没有解析。我们的低成本、以基础设施为基础的方法有助于解决本地化问题。所有数据集都可用。