Positioning and high definition (HD) mapping for autonomous vehicles

为了支持自动驾驶汽车的发展，对高清(HD)3D地图的需求正在上升。自动驾驶车辆将这些高清地图数据转换为有用的信息，如车辆定位和最佳路线选择。高清地图是由安装在移动地图系统上的各种传感器(例如，激光扫描仪和光学相机)捕获的数据生成的。所要求的设备包括全球导航卫星系统(GNSS)接收器、惯性测量单元(IMU)、机器人平台、可见光传感器和距离传感器，这是申请者收集必要数据的主要手段，以便将新的低成本传感器整合到无人驾驶移动平台上，以便有效地构建高细节和准确的地图。目前，申请者没有这种设备可供约克大学或该区域使用。这些设备对于支持申请者目前的研究计划至关重要，这些研究计划调查无所不在的定位、机器人地图和使用无人驾驶移动传感系统进行地图绘制的高清地图方面的科学和工程挑战。技术演示的任何延误不仅会增加拟议技术的上市时间，还会严重限制研究能力和HQP培训。该设备将极大地增强当前在定位、导航、机器人传感和测绘方面的地球信息学研究项目，特别是在受限的城市地区和室内环境中，为申请者和系内其他同事以及整个大学提供支持。该设备将用于开发有效的方法，以构建整合内外环境的准确3D地图，支持无缝3D建模和可视化，并用于空间决策。无人移动传感平台将用于及时进行3D测绘、监测和验证，并实现态势感知和空间智能。高性能GNSS接收器和IMU将提供参考位置轨迹，用于测试用于精确自主导航应用的新型低成本传感器、处理算法和集成传感器解决方案。申请者是在定位技术、传感器开发和集成、无人驾驶航空测绘平台、指挥与控制以及从高分辨率图像和距离数据进行3D测绘等领域的经验丰富的研究人员。这一最先进的设备将扩大和加强申请者的研究能力，并将在导航和无人移动地图平台的前沿领域提供30多个HQP高级培训。它将允许约克大学的研究人员与行业合作伙伴接触，通过实际操作的研发活动和基于项目的计划提供新颖的综合培训机会。随着我们的社会对移动电子设备、自动驾驶车辆、无人驾驶交付系统等导航需求的持续增长，这些HQP的需求将继续高涨。**

Demand for high definition (HD) 3D maps is on the rise to support the advancement of autonomous driving vehicles. Autonomous vehicles convert this HD map data in useful information such as vehicle localization and optimal route selection. HD maps are generated from data captured by a wide range of sensors (e.g., laser scanners and optical cameras) mounted on mobile mapping systems. The requested equipment, Global Navigation Satellite Systems (GNSS) receivers, Inertial Measurement Units (IMU), robotic platforms, and visible, and range sensors, represents the applicants' primary means to collect the necessary data to integrate new, low-cost sensors on-board unmanned mobile platforms for the efficient construction of high detailed and accurate maps. Currently, no such equipment is available to the applicants for use at York University or the region. The equipment is critical in supporting the applicants' current research programs investigating scientific and engineering challenges in ubiquitous positioning, robotic mapping and HD mapping using unmanned mobile sensing systems for mapping. Any delay in technology demonstration would not only increase the time-to-market of the proposed technology but will also severely limit research abilities and HQP training. This equipment will greatly enhance current geomatics research programs in positioning, navigation, and robotic sensing and mapping, particularly in constrained urban areas and indoor environments for both the applicants and other colleagues in the department and across the University. The equipment will be used to develop efficient methods for constructing accurate 3D maps integrating exterior and interior environments, support seamless 3D modeling and visualization, and for spatial decision making. The unmanned mobile sensing platforms will be used for on-time 3D mapping, monitoring and verification and for achieving situational awareness and spatial intelligence. High-performance GNSS receivers and IMU will provide reference position trajectories for testing novel low-cost sensors, processing algorithms, and integrated sensor solutions for precise autonomous navigation applications. The applicants are experienced researchers in the fields of positioning technology, sensor development and integration, unmanned aerial mapping platforms, command and control, and 3D mapping from high resolution image and range data. This state-or-the art equipment will expand and strengthen the research capacity of the applicants and will provide over 30 HQP high level training in the leading-edge areas of navigation and unmanned mobile mapping platforms. It will allow York researchers to engage with industry partners to provide novel and integrated training opportunities with hands-on R&D activities and project-based programs. These HQP will continue to be in high demand as our society continues to grow in our need for navigation on mobile electronics, autonomous vehicles, unmanned delivery systems and more.**