In the spring semester, we designed and implemented the overall system for updating HD maps with video from vehicles. We adopted COLMAP for accurate scene reconstruction and camera pose estimation. Then a 3D-to-3D similarity transformation is estimated to project traffic sign positions in COLMAP coordinates to HD map coordinates. Finally some post-processing steps are designed to ensure consistent projection results and to remove duplicate detections.
2020 Spring Presentation Slides – link
2020 Spring Presentation Video – link