Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225793
Guofa Li, S. Li, Yuan Liao, Wenjun Wang, B. Cheng, Fang Chen
Lane change maneuver recognition is critical in driver characteristics analysis and driver behavior modeling for active safety systems. This paper presents an enhanced classification method to recognize lane change maneuver by using optimized features exclusively extracted from vehicle state and driver operation signals. The sequential forward floating selection (SFFS) algorithm was adopted to select the optimized feature set to maximize the k-nearest-neighbor classifier performance. The hidden Markov models (HMMs), based on the optimized feature set, were developed to classify driver lane change and lane keeping maneuvers. Fifteen drivers participated in the road test for validation with an accumulation of 2,200 km naturalistic driving data, from which 372 lane changes were extracted. Results show that the recognition rate of lane change maneuver achieves 88.2%. The numbers are 87.6% and 88.8% for left and right lane change maneuvers, respectively, superior to the results from conventional classifiers.
{"title":"Lane change maneuver recognition via vehicle state and driver operation signals — Results from naturalistic driving data","authors":"Guofa Li, S. Li, Yuan Liao, Wenjun Wang, B. Cheng, Fang Chen","doi":"10.1109/IVS.2015.7225793","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225793","url":null,"abstract":"Lane change maneuver recognition is critical in driver characteristics analysis and driver behavior modeling for active safety systems. This paper presents an enhanced classification method to recognize lane change maneuver by using optimized features exclusively extracted from vehicle state and driver operation signals. The sequential forward floating selection (SFFS) algorithm was adopted to select the optimized feature set to maximize the k-nearest-neighbor classifier performance. The hidden Markov models (HMMs), based on the optimized feature set, were developed to classify driver lane change and lane keeping maneuvers. Fifteen drivers participated in the road test for validation with an accumulation of 2,200 km naturalistic driving data, from which 372 lane changes were extracted. Results show that the recognition rate of lane change maneuver achieves 88.2%. The numbers are 87.6% and 88.8% for left and right lane change maneuvers, respectively, superior to the results from conventional classifiers.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124381339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225673
Haojie Zhang, Bo Su, Haiping Song, W. Xiong
Along with the development demand of intelligent power substation, mobile robot is implemented to serve power substations. The robot is equipped with inspecting sensors, such as CCD camera and thermal infrared imager which are together referred to as workload. These inspecting sensors are used to detect the environment parameters e.g. reading meter, measuring temperature etc., inside the substation. However, due to the strong electromagnetic interference inside substation, accurate localization of the workload and inspection robot is still a difficult problem to be solved. Existing methods solve the problem by paving magnetic strips or rail. However, in this way, the working area of the robot is limited by the paved infrastructures. In this paper, an inspection robot system is developed for working in substation. In the proposed system, the localization of the robot is realized using adaptive Monte-Carlo localization based on the known environment model. A visual servo system is designed to realize the high accuracy localization of the workload. The proposed robot system should guarantee to obtain fine inspecting results of equipments in substation.
{"title":"Development and implement of an inspection robot for power substation","authors":"Haojie Zhang, Bo Su, Haiping Song, W. Xiong","doi":"10.1109/IVS.2015.7225673","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225673","url":null,"abstract":"Along with the development demand of intelligent power substation, mobile robot is implemented to serve power substations. The robot is equipped with inspecting sensors, such as CCD camera and thermal infrared imager which are together referred to as workload. These inspecting sensors are used to detect the environment parameters e.g. reading meter, measuring temperature etc., inside the substation. However, due to the strong electromagnetic interference inside substation, accurate localization of the workload and inspection robot is still a difficult problem to be solved. Existing methods solve the problem by paving magnetic strips or rail. However, in this way, the working area of the robot is limited by the paved infrastructures. In this paper, an inspection robot system is developed for working in substation. In the proposed system, the localization of the robot is realized using adaptive Monte-Carlo localization based on the known environment model. A visual servo system is designed to realize the high accuracy localization of the workload. The proposed robot system should guarantee to obtain fine inspecting results of equipments in substation.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132298854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225763
Dongwook Kim, Taeyoung Chung, K. Yi
This paper describes a method of lane map building and localization for automated driving using 2d laser rangefinder. Today's on-board sensors such as radar or camera do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support these systems. An digital map is used as a powerful additional sensor. So we propose a lane map-based localization using a 2D Laser Rangefinder. The maps are created beforehand using a 2D LiDAR and RTK GPS. A pose estimation of vehicle was derived from a low-cost GPS and an iterative closest point(ICP) match of real-time sensor data to lane map. And the estimated pose was used as an observation inside a Kalman filter framework. The performance of the proposed localization algorithm is verified via vehicle tests in ITS proving ground. It has been shown through vehicle tests that good localization performance can be obtained. The proposed algorithm will be useful in the implementation of automated driving.
{"title":"Lane map building and localization for automated driving using 2D laser rangefinder","authors":"Dongwook Kim, Taeyoung Chung, K. Yi","doi":"10.1109/IVS.2015.7225763","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225763","url":null,"abstract":"This paper describes a method of lane map building and localization for automated driving using 2d laser rangefinder. Today's on-board sensors such as radar or camera do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support these systems. An digital map is used as a powerful additional sensor. So we propose a lane map-based localization using a 2D Laser Rangefinder. The maps are created beforehand using a 2D LiDAR and RTK GPS. A pose estimation of vehicle was derived from a low-cost GPS and an iterative closest point(ICP) match of real-time sensor data to lane map. And the estimated pose was used as an observation inside a Kalman filter framework. The performance of the proposed localization algorithm is verified via vehicle tests in ITS proving ground. It has been shown through vehicle tests that good localization performance can be obtained. The proposed algorithm will be useful in the implementation of automated driving.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133037786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225662
Mengmeng Yu, Guanglin Ma
360 degree surround view system monitoring (SVM) is a very convenient system to help drivers drive through narrow spaces blind-spot-free by looking at surround of a vehicle from top view. Nevertheless, it cannot solve the problem of parking. Even with help of 360 degree SVM system, unexperienced drivers still cannot do parking easily. In this paper, we present a parking guidance for SVM system which guides drivers to do parking step by step easily. One of key technologies of parking guidance or intelligent parking system is the path planning. This paper mainly describes two-arc parking path planning scheme. How the HMI of parking guidance applied on SVM system is also described.
{"title":"A visual parking guidance for surround view monitoring system","authors":"Mengmeng Yu, Guanglin Ma","doi":"10.1109/IVS.2015.7225662","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225662","url":null,"abstract":"360 degree surround view system monitoring (SVM) is a very convenient system to help drivers drive through narrow spaces blind-spot-free by looking at surround of a vehicle from top view. Nevertheless, it cannot solve the problem of parking. Even with help of 360 degree SVM system, unexperienced drivers still cannot do parking easily. In this paper, we present a parking guidance for SVM system which guides drivers to do parking step by step easily. One of key technologies of parking guidance or intelligent parking system is the path planning. This paper mainly describes two-arc parking path planning scheme. How the HMI of parking guidance applied on SVM system is also described.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115443224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225782
Peng Hao, Guoyuan Wu, K. Boriboonsomsin, M. Barth
The Eco-Approach and Departure application for fixed-time traffic signals, which uses the signal phase and timing information from the upcoming traffic signal to better guide a driver through the intersection in an environmentally-friendly way, has shown promising results in terms of fuel savings and carbon emissions reduction. However, there is very limited research on the development and evaluation of such application for actuated traffic signals. This paper proposes a framework for the Eco-Approach and Departure application for actuated signals which takes into account uncertainties in count-down information, preceding vehicle's state, and potential driver's distraction issues. The framework has been evaluated with numerical experiments. The results indicated that the proposed framework is effective at reducing energy consumption and emissions of the equipped vehicle, especially when the initial entry speed is relatively low.
“Eco-Approach and Departure”是利用即将到来的交通信号的信号相位和时间信息，以更环保的方式引导司机通过十字路口的固定时间交通信号应用，在节省燃料和减少碳排放方面取得了令人满意的效果。然而，对这种驱动型交通信号应用的开发和评价的研究非常有限。本文提出了一个考虑倒计时信息、前车状态和潜在驾驶员分心等不确定性因素的驱动信号生态接近和偏离应用框架。通过数值实验对该框架进行了验证。结果表明，所提出的框架在降低装备车辆的能耗和排放方面是有效的，特别是当初始进入速度相对较低时。
{"title":"Developing a framework of Eco-Approach and Departure application for actuated signal control","authors":"Peng Hao, Guoyuan Wu, K. Boriboonsomsin, M. Barth","doi":"10.1109/IVS.2015.7225782","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225782","url":null,"abstract":"The Eco-Approach and Departure application for fixed-time traffic signals, which uses the signal phase and timing information from the upcoming traffic signal to better guide a driver through the intersection in an environmentally-friendly way, has shown promising results in terms of fuel savings and carbon emissions reduction. However, there is very limited research on the development and evaluation of such application for actuated traffic signals. This paper proposes a framework for the Eco-Approach and Departure application for actuated signals which takes into account uncertainties in count-down information, preceding vehicle's state, and potential driver's distraction issues. The framework has been evaluated with numerical experiments. The results indicated that the proposed framework is effective at reducing energy consumption and emissions of the equipped vehicle, especially when the initial entry speed is relatively low.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114447335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225769
X. Lin, Yanzhi Wang, P. Bogdan, N. Chang, Massoud Pedram
In contrast to conventional internal combustion engine (ICE) propelled vehicles, hybrid electric vehicles (HEVs) can achieve both higher fuel economy and lower pollutant emissions. The HEV features a hybrid propulsion system consisting of one ICE and one or more electric motors (EMs). The use of both ICE and EM increases the complexity of HEV power management, and so advanced power management policy is required for achieving higher performance and lower fuel consumption. This work aims at minimizing the HEV fuel consumption over any driving cycles, about which no complete information is available to the HEV controller in advance. Therefore, this work proposes to model the HEV power management problem as a Markov decision process (MDP) and derives the optimal power management policy using the policy iteration technique. Simulation results over real-world and testing driving cycles demonstrate that the proposed optimal power management policy improves HEV fuel economy by 23.9% on average compared to the rule-based policy.
{"title":"Optimizing fuel economy of hybrid electric vehicles using a Markov decision process model","authors":"X. Lin, Yanzhi Wang, P. Bogdan, N. Chang, Massoud Pedram","doi":"10.1109/IVS.2015.7225769","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225769","url":null,"abstract":"In contrast to conventional internal combustion engine (ICE) propelled vehicles, hybrid electric vehicles (HEVs) can achieve both higher fuel economy and lower pollutant emissions. The HEV features a hybrid propulsion system consisting of one ICE and one or more electric motors (EMs). The use of both ICE and EM increases the complexity of HEV power management, and so advanced power management policy is required for achieving higher performance and lower fuel consumption. This work aims at minimizing the HEV fuel consumption over any driving cycles, about which no complete information is available to the HEV controller in advance. Therefore, this work proposes to model the HEV power management problem as a Markov decision process (MDP) and derives the optimal power management policy using the policy iteration technique. Simulation results over real-world and testing driving cycles demonstrate that the proposed optimal power management policy improves HEV fuel economy by 23.9% on average compared to the rule-based policy.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124755131","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225843
S. Tak, Soomin Woo, H. Yeo
For improvement of road safety, many collision-warning systems are developed. In this study, we propose Sampling-based Collision Warning System (SCWS) that overcomes the limitations of existing collision warning systems such as high installation cost, requirement of high market penetration rate, and the lack of consideration of traffic dynamics. SCWS gathers vehicle operation data though smartphones of drivers on the road and shares the information of surrounding vehicles' movement through a cloud server. From the pool of information on the cloud, SCWS uses sampled data, which indirectly represents the traffic state and traffic changes in the perspective of the leader vehicle. Therefore, SCWS can effectively replace the leader vehicle's information with the average behavior of sampled surrounding vehicles. The performance of SCWS is evaluated with comparison to Vehicle-to-Vehicle communication based Collision Warning System (VCWS) and Infrastructure based Collision Warning System (ICWS), where VCWS is considered the most similar measure to the actual collision risk in theory, but in practice very difficult to achieve due many limitations, such as high installation cost and market penetration. The result shows that in both aggregation and disaggregation level analysis the proposed SCWS exhibits a similar collision risk trend to the VCWS. Furthermore, the SCWS shows a high potential for practical application because it has the acceptable performance even with a low sampling ratio (40%), requiring a low market penetration rate and low installation cost by using the wide spread smartphone.
{"title":"Sampling-based collision warning system with smartphone in cloud computing environment","authors":"S. Tak, Soomin Woo, H. Yeo","doi":"10.1109/IVS.2015.7225843","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225843","url":null,"abstract":"For improvement of road safety, many collision-warning systems are developed. In this study, we propose Sampling-based Collision Warning System (SCWS) that overcomes the limitations of existing collision warning systems such as high installation cost, requirement of high market penetration rate, and the lack of consideration of traffic dynamics. SCWS gathers vehicle operation data though smartphones of drivers on the road and shares the information of surrounding vehicles' movement through a cloud server. From the pool of information on the cloud, SCWS uses sampled data, which indirectly represents the traffic state and traffic changes in the perspective of the leader vehicle. Therefore, SCWS can effectively replace the leader vehicle's information with the average behavior of sampled surrounding vehicles. The performance of SCWS is evaluated with comparison to Vehicle-to-Vehicle communication based Collision Warning System (VCWS) and Infrastructure based Collision Warning System (ICWS), where VCWS is considered the most similar measure to the actual collision risk in theory, but in practice very difficult to achieve due many limitations, such as high installation cost and market penetration. The result shows that in both aggregation and disaggregation level analysis the proposed SCWS exhibits a similar collision risk trend to the VCWS. Furthermore, the SCWS shows a high potential for practical application because it has the acceptable performance even with a low sampling ratio (40%), requiring a low market penetration rate and low installation cost by using the wide spread smartphone.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127956448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225774
Stefan Koehler, A. Viehl, O. Bringmann, W. Rosenstiel
We propose a novel torque vectoring concept for battery electric vehicles propelled by wheel-individual electric machines. Besides vehicle dynamic aspects, mainly addressed in other works, we especially focus on energy efficiency improvements. Our approach is based on a comprehensive four-wheel model taking the tires' nonlinear characteristics into account. A yaw torque optimized for vehicle dynamics and energy efficiency is calculated by a controller and allocated to the wheel hubs by a torque distribution block considering the efficiency characteristics of the electric machines. The resulting torque vectoring control system leads to an energy consumption reduction of around 10% for many driving situations, containing both high and low lateral acceleration scenarios.
{"title":"Improved energy efficiency and vehicle dynamics for battery electric vehicles through torque vectoring control","authors":"Stefan Koehler, A. Viehl, O. Bringmann, W. Rosenstiel","doi":"10.1109/IVS.2015.7225774","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225774","url":null,"abstract":"We propose a novel torque vectoring concept for battery electric vehicles propelled by wheel-individual electric machines. Besides vehicle dynamic aspects, mainly addressed in other works, we especially focus on energy efficiency improvements. Our approach is based on a comprehensive four-wheel model taking the tires' nonlinear characteristics into account. A yaw torque optimized for vehicle dynamics and energy efficiency is calculated by a controller and allocated to the wheel hubs by a torque distribution block considering the efficiency characteristics of the electric machines. The resulting torque vectoring control system leads to an energy consumption reduction of around 10% for many driving situations, containing both high and low lateral acceleration scenarios.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126896466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225820
Hyung-Kui Park, J. C. Gerdes
As more actuators are implemented, vehicles are becoming over-actuated and obtaining more authority to control individual tire forces. This paper presents a method that utilizes this abundant actuating capability to allocate tire forces optimally with a convex optimization formulation. The basic objective of this optimal allocation is to keep the usage of total tire friction capability equal over the four wheels. Achieving this goal has the advantage of preventing some tires from reaching saturation before other tires do. This algorithm for optimal tire force allocation can be combined with trajectory tracking near the limits of handling to follow the desired speed, heading, and lateral position of a vehicle. Experimental results demonstrate the performance of the method for successful tracking of all three desired trajectory states simultaneously while achieving equal friction usage among the tires.
{"title":"Optimal tire force allocation for trajectory tracking with an over-actuated vehicle","authors":"Hyung-Kui Park, J. C. Gerdes","doi":"10.1109/IVS.2015.7225820","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225820","url":null,"abstract":"As more actuators are implemented, vehicles are becoming over-actuated and obtaining more authority to control individual tire forces. This paper presents a method that utilizes this abundant actuating capability to allocate tire forces optimally with a convex optimization formulation. The basic objective of this optimal allocation is to keep the usage of total tire friction capability equal over the four wheels. Achieving this goal has the advantage of preventing some tires from reaching saturation before other tires do. This algorithm for optimal tire force allocation can be combined with trajectory tracking near the limits of handling to follow the desired speed, heading, and lateral position of a vehicle. Experimental results demonstrate the performance of the method for successful tracking of all three desired trajectory states simultaneously while achieving equal friction usage among the tires.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126512959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-08-27DOI: 10.1109/IVS.2015.7225910
Eike Rehder, Alexander Albrecht
Coherent road maps are a prerequisite for autonomous navigation. In case of an unknown environment, grid map and SLAM techniques are widely used. This paper takes a novel approach to vision based mapping of road markings by registration of local occupancy gridmaps for map stitching. We show that with reasonably accurate ego motion measurements, seamless global maps can be constructed from local grid maps. The approach is evaluated on real world data obtained from an autonomous model racing car.
{"title":"Submap-based SLAM for road markings","authors":"Eike Rehder, Alexander Albrecht","doi":"10.1109/IVS.2015.7225910","DOIUrl":"https://doi.org/10.1109/IVS.2015.7225910","url":null,"abstract":"Coherent road maps are a prerequisite for autonomous navigation. In case of an unknown environment, grid map and SLAM techniques are widely used. This paper takes a novel approach to vision based mapping of road markings by registration of local occupancy gridmaps for map stitching. We show that with reasonably accurate ego motion measurements, seamless global maps can be constructed from local grid maps. The approach is evaluated on real world data obtained from an autonomous model racing car.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121489747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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