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.


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    Titel :

    Road course estimation in occupancy grids


    Beteiligte:
    Konrad, M (Autor:in) / Szczot, M (Autor:in) / Dietmayer, K (Autor:in)


    Erscheinungsdatum :

    01.06.2010


    Format / Umfang :

    2863169 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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