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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    Title :

    Road course estimation in occupancy grids


    Contributors:
    Konrad, M (author) / Szczot, M (author) / Dietmayer, K (author)


    Publication date :

    2010-06-01


    Size :

    2863169 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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    Konrad, M. / Szczot, M. / Dietmayer, K.C. et al. | British Library Conference Proceedings | 2010


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