Ultra-lightweight Visual SLAM framework for Auto Valet Parking

Date
2022. Feb - 2022. Dec

Auto valet parking demo

โ€ข
(0:00~0:45) ์ฒซ๋ฒˆ์งธ ์ฃผํ–‰์—์„œ ์šด์ „์ž๊ฐ€ Map training ๋ฒ„ํŠผ์„ ๋ˆ„๋ฅด๊ณ  ์ˆ˜๋™์œผ๋กœ ์ฃผํ–‰ํ•˜์—ฌ ์ฃผ์ฐจ ํ™˜๊ฒฝ์˜ ์ง€๋„ ํ•™์Šต
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(0:48~2:00) ๋‘๋ฒˆ์งธ ์ฃผํ–‰์—์„œ ์šด์ „์ž๊ฐ€ localization ๋ฒ„ํŠผ์„ ๋ˆ„๋ฅด๊ณ  ๋‚ด๋ฆฌ๋ฉด ์ฐจ๋Ÿ‰์ด ์ž๋™์œผ๋กœ ์ฃผํ–‰ํ•˜์—ฌ ์ง€์ •๋œ ์œ„์น˜์— ์ฃผ์ฐจ

ํ”„๋กœ์ ํŠธ์˜ ๋ชฉ์ 

โ€ข
์ž์œจ ์ฃผ์ฐจ ์†Œํ”„ํŠธ์›จ์–ด๋ฅผ ์œ„ํ•œ ์ดˆ๊ฒฝ๋Ÿ‰ visual SLAM ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๊ฐœ๋ฐœ
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์—ฐ์‚ฐ ์ž์›์ด ์ œํ•œ์ ์ธ Automotive์šฉ ์ž„๋ฒ ๋””๋“œ ํ”Œ๋žซํผ์—์„œ ์‹ค์‹œ๊ฐ„์œผ๋กœ ๋™์ž‘ํ•˜๋Š” ์œ„์น˜ ์ถ”์ • ๋ฐ ์ง€๋„ ์ž‘์„ฑ

๊ธฐ์—ฌํ•œ ๋ถ€๋ถ„

โ€ข
Frontend ๋ฐ Backend์—์„œ ์‚ฌ์šฉํ•˜๋Š” non-linear optimization ๊ฒฝ๋Ÿ‰ํ™” ๋ฐ ์ž„๋ฒ ๋””๋“œ ํ”Œ๋žซํผ ํฌํŒ…
โ€ข
Visual SLAM ์•Œ๊ณ ๋ฆฌ์ฆ˜ ํ‰๊ฐ€์šฉ LiDAR GT data ์ƒ์„ฑ ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๊ฐœ๋ฐœ
โ€ข
Visual SLAM ์•Œ๊ณ ๋ฆฌ์ฆ˜ ํ‰๊ฐ€ ์ž๋™ํ™” ํŒŒ์ดํ”„๋ผ์ธ ๊ตฌ์ถ• ๋ฐ ํ‰๊ฐ€ ๊ฒฐ๊ณผ ๋ถ„์„ ํˆด ์ œ์ž‘