视觉文献阅读.docxVIP

2015.12.1交通灯检测Traffic Light Mapping and DetectionNathaniel Fairfield Chris Urmsonfnfairfield, curmsong@Google, Inc.The outdoor perception problem is a major challenge for driver-assistance and autonomous vehicle systems.While these systems can often employ active sensors such as sonar, radar, and lidar to perceive their surroundings, the state of standard traffic lights can only be perceived visually. By using a prior map, a perception system can anticipate and predict the locations of traffic lights and improve detection of the light state. The prior map also encodes the control semantics of the individual lights. This paper presents methods for automatically mapping the three dimensional positions of traffic lights and robustly detecting traffic light state onboard cars with cameras. We have used these methods to map more than four thousand traffic lights, and to perform onboard traffic light detection for thousands of drives through intersections.交通灯映射和检测户外感知的问题是驾驶员辅助系统和自主车辆系统的一大挑战。虽然这些系统往往可以采用主动式传感器如声纳，雷达，激光雷达感知周围的环境，标准交通灯的状态只能被视觉感知。通过使用现有的地图，一个感知系统能够预见和预测的交通信号灯的位置并提高检测的光的状态。现有的地图还编码的各个灯光控制语义。本文提出了一种自动绘制的交通灯的三维位置和使用车载汽车行驶相机稳健检测红绿灯状态的方法。我们使用这些方法来映射四千多红绿灯，并进行千万次通过路口进行板载红绿灯检测试验。路面检测A Self-Supervised Terrain Roughness Estimatorfor O?-Road Autonomous Driving越野自动驾驶的一个自我监督的地形粗糙度估计David Stavens and Sebastian ThrunStanford Artiˉcial Intelligence LaboratoryComputer Science DepartmentStanford, CA 94305-9010fstavens,thrung@Accurate perception is a principal challenge of autonomous off-road driving. Perceptive technologies generally focus on obstacle avoidance. However, at high speed, terrain roughness is also important to control shock the vehicle experiences. The accuracy required to detect rough terrain is significantly greater than that necessary for obstacle avoidance. We present a self-supervised machine learning approach for estimating terrain roughness from laser range data. Our approach compares sets of nearby surface points acquired with a laser. This comparison is