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Visual Map-based Localization Applied to Autonomous Vehicles (Computer/Electronics Project)

This project work is carried out in the context of Advanced Driver Assistance Systems, and especially autonomous vehicles. The project aims to propose a method to enhance localization of vehicles on roads.

It suggests using a camera to detect lane markings, and to match these to a map to extract the corrected position of the vehicle. The thesis is divided in three parts dealing with: the map, the line detector and the evaluation. The map is based on the Open Street Map data.

The line detector is a based on ridge detection. The results are compared with an Iterative Closest Point algorithm. It also focuses on implementing the components under a real-time constraint. Technologies such as ROS, for synchronization of the data, and CUDA, for parallelization, are used.
Source: KTH
Author: David, Jean-alix

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