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
2012-06-01
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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