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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    Title :

    Robust Point-shaped Landmark Detection Using Polarimetric Radar


    Contributors:


    Publication date :

    2021-07-11


    Size :

    597225 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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