Semantic aware parking slot map generation

Date
2023. Jan - 2023. Dec

Parking slot mapping demo

โ€ข
(0:00~0:13) Visual SLAM ์•Œ๊ณ ๋ฆฌ์ฆ˜์œผ๋กœ๋ถ€ํ„ฐ ๊ณ„์‚ฐ๋œ ์ฐจ๋Ÿ‰์˜ ์œ„์น˜ ์ •๋ณด์™€ Parking slot detection ์•Œ๊ณ ๋ฆฌ์ฆ˜์œผ๋กœ๋ถ€ํ„ฐ ๊ณ„์‚ฐ๋œ ์ฃผ์ฐจ ์Šฌ๋กฏ ์ •๋ณด๋ฅผ ์œตํ•ฉํ•˜์—ฌ ์ „์—ญ์ ์ธ Parking slot map์„ ์ƒ์„ฑ
โ€ข
(0:13~0:25) ์ƒ์„ฑ๋œ Parking slot map์„ ์œ„์„ฑ์ง€๋„์—์„œ ๋ณผ ์ˆ˜ ์žˆ๋Š” ์‹ค์ œ ์ฃผ์ฐจ์žฅ ์ง€๋„์™€ ๋น„๊ตํ•˜์—ฌ ์‹œ๊ฐํ™”
โ€ข
(0:25~1:33) Parking slot mapping 3D ์‹œ๊ฐํ™”

ํ”„๋กœ์ ํŠธ์˜ ๋ชฉ์ 

โ€ข
์˜๋ฏธ๋ก ์  ์ •๋ณด๋ฅผ ํ™œ์šฉํ•˜์—ฌ ์ „์—ญ์ ์ธ ์ฃผ์ฐจ์žฅ ์ง€๋„ ์ƒ์„ฑ
โ€ข
๋งˆํŠธ, ๊ณตํ•ญ, ๋ฐฑํ™”์  ์ฃผ์ฐจ์žฅ๊ณผ ๊ฐ™์ด ํ™˜๊ฒฝ์˜ ๋ณ€ํ™”๊ฐ€ ๋นˆ๋ฒˆํ•˜๊ฒŒ ์ผ์–ด๋‚˜๋Š” ๊ณต๊ฐ„์—์„œ๋„ ๊ฐ•๊ฑดํ•œ ์œ„์น˜ ์ธก์œ„ ๋ฐ ์ง€๋„ ์ž‘์„ฑ ์ˆ˜ํ–‰

๊ธฐ์—ฌํ•œ ๋ถ€๋ถ„

โ€ข
Parking slot mapping ์ „๋ฐ˜์ ์ธ ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๊ฐœ๋ฐœ
โ€ข
๋น„์„ ํ˜• ์ตœ์ ํ™”๋ฅผ ์œ„ํ•œ Factor ์ˆ˜์‹ ์ •์˜ ๋ฐ ๊ตฌํ˜„
โ€ข
Semantic ์ •๋ณด๋ฅผ ํ™œ์šฉํ•œ parking slot map loop closure detection ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๊ฐœ๋ฐœ
โ€ข
Parking slot map pose graph optimization ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๊ฐœ๋ฐœ
โ€ข
์ตœ์ ํ™”๋œ ๋งต ํ€„๋ฆฌํ‹ฐ๋ฅผ ์ธก์ •ํ•˜๋Š” map metric ์ˆ˜์‹ ์ •์˜ ๋ฐ ๊ตฌํ˜„

Parking slot map gallery