Road course estimation in occupancy grids

Author

Konrad, Marcus ; Szczot, Magdalena ; Dietmayer, Klaus

Author_Institution

Inst. of Meas., Control, & Microtechnol., Univ. of Ulm, Ulm, Germany

fYear

2010

fDate

21-24 June 2010

Firstpage

412

Lastpage

417

Abstract

This paper presents a novel approach for road course estimation on rural roads using a mulitlayer laser scanner. The measurements of the sensor are used to build an occupancy grid as a representation of a local map. This mapping step uses a new free space function and a novel method for detecting and eliminating moving objects. Based on this map a feature extraction algorithm yields road border feature points. A Levenberg-Marquardt based optimization fits a flexible two-part road course model to these feature points.

Keywords

feature extraction; image motion analysis; image representation; optimisation; traffic engineering computing; Levenberg-Marquardt based optimization; feature extraction algorithm; flexible two-part road course model; free space function; local map representation; moving objects elimination; mulitlayer laser scanner; occupancy grid; occupancy grids; road border feature points; road course estimation; rural roads; Cameras; Data mining; Doppler radar; Feature extraction; Laser modes; Laser noise; Laser radar; Object detection; Radar imaging; Roads;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2010 IEEE

Conference_Location

San Diego, CA

ISSN

1931-0587

Print_ISBN

978-1-4244-7866-8

Type

conf

DOI

10.1109/IVS.2010.5548041

Filename

5548041