@article{M5636D98D,
title = "Height and Texture Modeling of Road Surfaces for Camera-Based HDMap Construction",
journal = "Journal of KIISE, JOK",
year = "2024",
issn = "2383-630X",
doi = "10.5626/JOK.2024.51.9.835",
author = "Changhee Won, Jongwoo Lim",
keywords = "HD Map, Multi-camera MMS, Road Surface Reconstruction, Texture Registration, Hexagonal Grid Modeling",
abstract = "With increasing demand for construction and updating of HD maps for autonomous vehicles, multi-camera systems are being used as cost-effective sensors for Mobile Mapping System (MMS). Stereo matching among multi-view images, image feature point matching, and visual localization are utilized for such camera-based 3D map reconstruction. In this paper, we proposed a methodology for estimating height of road surfaces and texture registration utilizing hexgrid model, keyframe poses and 3D point clouds based on multi-view images. The proposed methodology could reconstruct high-density and high-accuracy 3D point cloud of road surfaces base on a multi-camera system mounted on the upper part of a vehicle. Our experimental results showed that the proposed method created a precise road model with a minimum point spacing of 0.025 m on a MMS equipped with ultra-wide angle fisheye cameras and GPS."
}