Christopher Jan Plachetka

3D Map Evaluation in LiDAR Point Clouds Using Deep Neural Networks:

Dataset, Framework, DNN Architecture, and Methods

ISBN:

978-3-8191-0014-7

Series:

Mitteilungen aus dem Institut für Nachrichtentechnik der Technischen Universität Braunschweig
Herausgeber: Prof. Dr.-Ing. U. Reimers, Prof. Dr.-Ing. T. Kürner and Prof. Dr.-Ing. T. Fingscheidt
Braunschweig

Volume:

Keywords:

machine learning; artificial intelligence; deep neural networks; computer vision; perception; automated driving; HD maps; map change detection; map deviation detection; map verification; map validation

Type of publication:

Thesis

Language:

English

Pages:

212 pages

Figures:

53 figures

Price:

59,80 €

Published:

March 2025

Print-Version:

978-3-8440-9932-4

DOI:

10.2370/9783819100147 (Online document)

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Abstract:

This dissertation examines the evaluation of high-definition maps using LiDAR point clouds as sensor data and deep neural networks (DNNs). The developed methods are suitable for both automated driving and geodesy. By utilizing the map as an additional input, the DNN can verify the map even under adverse conditions that degrade the sensor input. This work introduces a novel dataset, a conceptual framework, a specialized DNN architecture, and innovative evaluation methods, contributing significantly to the field.

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