In robotic applications gridmaps are a common representation of the environment. For the automotive field, radar as sensing technology is suitable due to its robustness. This paper presents two radar-based grid-mapping algorithms for automotive applications like self-localization. These algorithms involve first an amplitude-based approach, which gains information about the RCS of all targets, and second an occupancy grid-mapping approach with an adapted inverse sensor measurement model. Experiments show that both gridmapping algorithms result in adequate representations of the environment.
Automotive radar gridmap representations
01.04.2015
747834 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Springer Verlag | 2015
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