Automotive Visual-inertial Navigation

自动驾驶汽车（AV）必须使用一套传感器，例如摄像头和惯性传感器，不仅可以定位自己在世界中的位置，还可以定位其他车辆、行人、骑自行车的人和障碍物的位置。拟议研究的目标是融合来自各种传感器的测量结果，例如惯性测量单元（由速率陀螺仪和加速度计组成），车轮里程计以及单目摄像头，以使用汽车级硬件为AV设计同步定位和映射（SLAM）解决方案。导航解决方案必须能够估计静态地标（如路障和路标）和动态地标（如移动车辆）相对于宿主车辆的位置。设计的导航解决方案将被用作路径规划算法的输入，以规划AV绕过其他车辆和障碍物的路径。因此，开发一个强大而可靠的导航解决方案对AV的安全至关重要。 无人驾驶汽车的部署正在加拿大迅速成为现实，并将对我们的经济，环境和社会发展产生巨大影响。据估计，加拿大自动驾驶汽车的累积潜在效益每年总计650亿美元（以2013年加元表示），包括避免碰撞、节省燃料成本和避免拥堵。拟议的研究将有助于在加拿大迅速扩大AV研究网络。通过对无人驾驶汽车导航解决方案的研究做出贡献，预计这项研究的结果将使加拿大更接近于在加拿大城市部署无人驾驶汽车。

An autonomous vehicle (AV) must use a suite of sensors, such as cameras and inertial sensors, to not only localize itself in the world, but also the positions of other vehicles, pedestrians, cyclists, and obstacles. The goal of the proposed research is to fuse measurements from various sensors, such as an inertial measurements unit (consisting of a rate gyroscope and an accelerometer), wheel odometer, as well as a monocular camera to design a simultaneous localization and mapping (SLAM) solution for AVs using automotive-grade hardware. The navigation solution must be able to estimate the position of static landmarks, such as road barriers and sign posts, and dynamic landmarks, such as moving vehicles, relative to the host vehicle. The navigation solution designed will be used as an input to a path-planning algorithm to plan paths for the AV around other vehicles and obstacles. As such, the development of a robust and reliable navigation solution is critical to the safety of the AV. The deployment of AVs is quickly becoming a reality in Canada and will have an enormous impact on the development of our economy, environment, and society. It is estimated that the cumulative potential benefits of AVs in Canada totals $65 billion dollars per year (expressed in 2013 Canadian dollars), including collision avoidance, fuel cost savings, and congestion avoidance. The proposed research will contribute to a rapidly expanding network of AV research in Canada. By contributing to research regarding the navigation solution for AVs, it is expected that the outcome of this research will place Canada closer to deploying AVs in Canadian cities.