Online Monocular Lane Mapping Using Catmull-Rom Spline
Zhijian Qiao,Zehuan Yu,Huan Yin,Shaojie Shen,Zhijian Qiao,Zehuan Yu,Huan Yin,Shaojie Shen
In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique models the lane association process as an assignment issue utilizing a bipartite graph, and assigns weights to the edges by incorporating Chamfer distance, pose uncertainty, and lateral sequence consistency. Furthermore, w...
