Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity
Petri Manninen,Heikki Hyyti,Ville Kyrki,Jyri Maanpää,Josef Taher,Juha Hyyppä,Petri Manninen,Heikki Hyyti,Ville Kyrki,Jyri Maanpää,Josef Taher,Juha Hyyppä
High-Definition (HD) maps are needed for robust navigation of autonomous vehicles, limited by the on-board storage capacity. To solve this, we propose a novel framework, Environment-Aware Normal Distributions Transform (EA-NDT), that significantly improves compression of standard NDT map representation. The compressed representation of EA-NDT is based on semantic-aided clustering of point clouds r...
