3 accepted papers
We present the HD Ground Database, a comprehensive database for ground texture based localization. It contains sequences of a variety of textures, obtained using a downward facing camera. In contrast to existing databases of ground images, the HD Ground Database is larger, has a greater variety of t…
Ground texture based localization is a promising approach to achieve high-accuracy positioning of vehicles. We present a self-contained method that can be used for global localization as well as for subsequent local localization updates, i.e. it allows a robot to localize without any knowledge of it…
Localization using ground texture images recorded with a downward-facing camera is a promising approach to achieve reliable high-accuracy vehicle positioning. A common way to accomplish the task is to focus on prominent features of the ground texture such as stones and cracks. Our results indicate t…