This paper presents a robust detector of point-shaped landmarks by leveraging scattering information from polarimetric covariance radar gridmaps. Reliable landmarks are an essential part of any feature-based vehicle self-localization required for highly automated and autonomous driving. A polarimetric distance measure is used to extract cells with scattering behavior that is uniquely distinct from its neighborhood. Experiments on real-world data are evaluated and results from a single-, dual- and full-polarization utilization are compared. By association with a high definition map, a comparison of the suitability of different types of landmarks such as poles, guideposts and tree trunks for localization applications is made.


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    Titel :

    Robust Point-shaped Landmark Detection Using Polarimetric Radar


    Beteiligte:
    Weishaupt, Fabio (Autor:in) / Will, Patrick S. (Autor:in) / Appenrodt, Nils (Autor:in) / Tilly, Julius F. (Autor:in) / Dickmann, Jurgen (Autor:in) / Heberling, Dirk (Autor:in)


    Erscheinungsdatum :

    11.07.2021


    Format / Umfang :

    597225 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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