Low Cost GNSS and Computer Vision Fusion for Accurate Lane Level Navigation and Enhanced Automatic Map Generation

Livrables

Report on sensor-to-map data alignment v2

The report will describe the methods and technologies for the lane-level based road representation, the map-to-sensor alignment and Local Dynamic Map generation from T2.7, T2.8 and T2.9. Three versions will be delivered in M12 and M30. The M24 version of the document will be internal

Report of annual dissemination activities v2

Report of annual dissemination activities (M12, M24, M30): Annual report on project dissemination activities and actions fostering links between projects. M24 version will be internal

Report on protection and use of foreground IPR

Report on protection and use of foreground IPR: The report will describe the different IPR protection mechanisms and detail the license types that will be used in the exploitation and deployment of inLane (M6).

Report on User trials v1

Report on User trials. A report on user trials conducting methodology and user trials results will be produced for each user trial testing phase. Therefore 3 versions will be delivered in M12, M24 and M30. M24 version will be internal

Project final report

Project final report (M30): Description of the work performed by each partner during the whole duration of the project; overview of the budgeted cost and actual costs by partners and major costs items; detailed cost analysis by partner and cost category; financial statements for the whole duration of the project; summary of the financial report; distributions of the EU contribution.

Report on Prototype Integration, Validation and Testing Protocols v1

D4.1 Report on Prototype Integration, Validation and Testing Protocols: Therefore 3 versions will be delivered in M12, M24 and M30. M24 version will be internal to the consortium

Quality assurance plan

Quality assurance plan (M3)

Standardisation plan v2

Standardisation plan: report describing the actual status of the standardisation activity from CEN and ETSI and providing a plan how inLane will contribute (M6). Mid-term report on contributions to standardisation: report describing the contribution from inLane to the ongoing standardisation work and the participation in the standardisation meetings from the relevant working groups (M18). Final report on contributions to standardisation: report describing the contribution from inLane to the ongoing standardisation work and the participation in the standardisation meetings from the relevant working groups. Provides list of contributions in the different standards and work items (M30). M6 version will be internal

Report of annual dissemination activities v1

Report of annual dissemination activities (M12, M24, M30): Annual report on project dissemination activities and actions fostering links between projects. M24 version will be internal

Report on developed vision-based software modules v1

This document will describe and report the vision based modules that will be developed during the project. 2 versions will be delivered in M12 and M30. M24 update will be internal

Report on developed vision-based software modules v2

This document will describe and report the vision based modules that will be developed during the project. 2 versions will be delivered in M12 and M30. M24 update will be internal

Report on Lane level Navigation application and enhanced maps v1

Report on Lane level Navigation application and enhanced maps. This deliverable will collect the new lane level navigation algorithm and application description and implementation as well as the description of the new cartography architecture and map model to enable the lane level navigation. 3 versions will be delivered in M12, M24 and M30. M24 version will be internal.

Data management plan v2

Data management plan will have 2 versions (M18,M30)

Report on developed software modules that fuse EGNOS-GNSS absolute position estimates, IMU relative positions estimates, and vision-based (map matching) absolute position estimates. v2

Report on developed software modules that fuse EGNOS-GNSS absolute position estimates, IMU relative positions estimates, and vision-based (map matching) absolute position estimates. This includes the communication channels and protocols for exchanging real time cartography information and for exchanging EGNOS data. It also includes information on the used hardware, i.e. EGNSS unit, IMU unit, and communication unit. Three versions will be delivered in M12, M24 and M30. M24 version will be internal for the consortium

Report on Prototype Integration, Validation and Testing Protocols v2

Report on Prototype Integration, Validation and Testing Protocols: Therefore 3 versions will be delivered in M12, M24 and M30. M24 version will be internal

Report on sensor-to-map data alignment v1

The report will describe the methods and technologies for the lane-level based road representation, the map-to-sensor alignment and Local Dynamic Map generation from T2.7, T2.8 and T2.9. Two versions will be delivered in M12 and M30. M24 version will be internal

Standardisation plan v1

Standardisation plan: report describing the actual status of the standardisation activity from CEN and ETSI and providing a plan how inLane will contribute (M6). Mid-term report on contributions to standardisation: report describing the contribution from inLane to the ongoing standardisation work and the participation in the standardisation meetings from the relevant working groups (M18). Final report on contributions to standardisation: report describing the contribution from inLane to the ongoing standardisation work and the participation in the standardisation meetings from the relevant working groups. Provides list of contributions in the different standards and work items (M30). M6 version will be internal

Report on Lane level Navigation application and enhanced maps v2

Report on Lane level Navigation application and enhanced maps. This deliverable will collect the new lane level navigation algorithm and application description and implementation as well as the description of the new cartography architecture and map model to enable the lane level navigation. 3 versions will be delivered in M12, M24 and M30. M24 version will be internal version

Data management plan v1

Data managementet plan will have 2 version (M18,M30)

Periodic report

Periodic report (M18): Document detailing the activities carried out during the period, the results obtained, the problems raised and a risk assessment.

Report on User trials v2

Report on User trials. A report on user trials conducting methodology and user trials results will be produced for each user trial testing phase. Therefore 3 versions will be delivered in M12, M24 and M30. M24 version will be internal

Report on developed software modules that fuse EGNOS-GNSS absolute position estimates, IMU relative positions estimates, and vision-based (map matching) absolute position estimates v1

Report on developed software modules that fuse EGNOS-GNSS absolute position estimates, IMU relative positions estimates, and vision-based (map matching) absolute position estimates. This includes the communication channels and protocols for exchanging real time cartography information and for exchanging EGNOS data. It also includes information on the used hardware, i.e. EGNSS unit, IMU unit, and communication unit. Three versions will be delivered in M12, M24 and M30. M24 version will be internal to the consortium

Marketing Materials

Marketing Materials, Press Kit, Website and Social Media Presence (M1): Setup of project website and establishment of social media presence.

SDK for interfacing to allow third parties to include their navigation application

SDK for interfacing to allow third parties to include their navigation application M24(TRL 6/7) and M30(TRL 8). M24 version will be internal

Publications

Standardization issues related to hybrid GNSS positioning

Auteurs: David Bétaille, Miguel Ortiz, Gorka Velez, Oihana Otaegui
Publié dans: 25th ITS World Congress, 2018
Éditeur: ITS Europe

An Experimental Study on Relative and Absolute Pose Graph Fusion for Vehicle Localization

Auteurs: Anweshan Das, Gijs Dubbelman
Publié dans: 29th IEEE Intelligent Vehicles Symposium (IEEE IV 2018), 2018
Éditeur: IEEE

Fusion von GNSS und Visual Odometry als Grundlage für fahrspurgenaue Navigation und Crowdsourcing von Kartendaten

Auteurs: Axel Koppert
Publié dans: AHORN 2017, 2017
Éditeur: Austrian Institute of Navigation

Lane Detection Based Camera to Map Alignment Using Open-Source Map Data

Auteurs: Benedict Flade, Marcos Nieto, Gorka Velez and Julian Eggert
Publié dans: 21st IEEE International Conference on Intelligent Transportation Systems, 2018
Éditeur: IEEE

Behavior-Based Relative Self-Localization in Intersection Scenarios

Auteurs: Benedict Flade, Edoardo Casapietra, Christian Goerick, Julian Eggert
Publié dans: 20th International IEEE Conference on Intelligent Transportation Systems, 2017, 2017
Éditeur: IEEE

Strategies for Improving Camera to Map Alignment

Auteurs: Johannes Silberbauer, Benedict Flade, Stephan Hasler, Malte Probst , Julian Eggert
Publié dans: 2017
Éditeur: Machine Learning Reports

Driving Situation Analysis with Relational Local Dynamic Maps (R-LDM)

Auteurs: Julian Eggert, Daniela Aguirre Salazar, Tim Puphal, Benedict Flade
Publié dans: FAST-zero Symposium 2017, 2017
Éditeur: Society of Automotive Engineers of Japan

Lane-level self-localization using open source map data stored in a local dynamic map

Auteurs: Benedict Flade, Marcos Nieto, Gorka Vélez Isasmendi, Julian Eggert
Publié dans: 21st International IEEE Conference on Intelligent Transportation Systems, 2018
Éditeur: IEEE

Camera to map alignment for accurate low-cost lane-level scene interpretation

Auteurs: Gaoya Cao, Florian Damerow, Benedict Flade, Markus Helmling, Julian Eggert
Publié dans: 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016, Page(s) 498-504, ISBN 978-1-5090-1889-5
Éditeur: IEEE
DOI: 10.1109/ITSC.2016.7795601

Low Cost GNSS and Computer Vision Fusion for ADAS (Paper ID: EU-TP0308)

Auteurs: O. Otaegui (VICOM), G.Velez (VICOM), F. Fischer (ERTICO), J. Eggert (HRI), M Al-Mamud (INTEL), J. Seybold (TCA), R. van Venrooy (TOMTOM), G. Dubbelman (TUE), J. Tirone (ACASA), D. Betaille (IFSTTAR), J. Ortuño (IMI)
Publié dans: 2016
Éditeur: N/A

Embedding vision-based advanced driver assistance systems: a survey

Auteurs: Gorka Velez, Oihana Otaegui
Publié dans: IET Intelligent Transport Systems, Numéro 11/3, 2017, Page(s) 103-112, ISSN 1751-956X
Éditeur: Institution of Engineering and Technology
DOI: 10.1049/iet-its.2016.0026

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