Localising PMDs through CNN Based Perception of Urban Streets
Maleen Jayasuriya,Janindu Arukgoda,Ravindra Ranasinghe,Gamini Dissanayake,Maleen Jayasuriya,Janindu Arukgoda,Ravindra Ranasinghe,Gamini Dissanayake
The main contribution of this paper is a novel Extended Kalman Filter (EKF) based localisation scheme that fuses two complementary approaches to outdoor vision based localisation. This EKF is aided by a front end consisting of two Convolutional Neural Networks (CNNs) that provide the necessary perceptual information from camera images. The first approach involves a CNN based extraction of informat...
