Grid maps are a reliable representation of the environment. Based on a generic grid map definition, this paper presents three formulations: a laser scanner based occupancy grid, a video grid based on the Inverse Perspective Mapping and a novel feature grid, where lane marking features are used. Furthermore, this contribution presents a road course estimation based on such grid maps which yields estimations above 120m. Therefore, a digital road map (comparable to maps of GPS navigation systems) is matched to a grid map. Thus, a global position in the road map is estimated. Finally, a novel evaluation approach is presented to quantize the results of this grid map based map match.
Localization in digital maps for road course estimation using grid maps
01.06.2012
1012780 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Localization in Digital Maps for Road Course Estimation Using Grid Maps
British Library Conference Proceedings | 2012
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