Road-SLAM : Road Marking based SLAM with Lane-level Accuracy

July 2020

tl;dr: Use RSM for point cloud map building and localization.

Overall impression

Road markings is susceptible to visual aliasinig for global visualization. Only six informative classes (dashed lanes, arrows, road markings, numbers, crosswalk) of road markings are considered to avoid ambiguity.

Road-SLAM can achieve cm accuracy.

Key ideas

Technical details