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From Grid Maps to Parametric Free Space Maps - A Highly Compact, Generic Environment Representation for ADAS

Schreier, Matthias and Willert, Volker and Adamy, Jürgen (2013):
From Grid Maps to Parametric Free Space Maps - A Highly Compact, Generic Environment Representation for ADAS.
In: Proceedings of the IEEE Intelligent Vehicles Symposium, In: IEEE Intelligent Vehicles Symposium, Gold Coast, Australia, 23.-26. June 2013, [Conference or Workshop Item]

Abstract

We propose a highly compact, generic representation of the driving environment, so-called Parametric Free Space (PFS) maps, specifically suitable for future Advanced Driver Assistance Systems (ADAS) and bring them into line with existing metric representations known from mobile robotics. PFS maps combine a closed contour description of arbitrarily shaped outer free space boundaries with a representation of inner free space boundaries, respectively objects, by geometric primitives. A real-time capable algorithm is presented that obtains the representation by building upon an intermediate occupancy grid map-based environment representation generated from an automotive radar and a stereo camera. The proposed representation preserves all relevant information contained in a grid map – thus remaining function-independent – in a much more compact way, which is considered particularly important for the transmission via low data-rate automotive communication interfaces. Examples are shown in real traffic scenarios.

Item Type: Conference or Workshop Item
Erschienen: 2013
Creators: Schreier, Matthias and Willert, Volker and Adamy, Jürgen
Title: From Grid Maps to Parametric Free Space Maps - A Highly Compact, Generic Environment Representation for ADAS
Language: English
Abstract:

We propose a highly compact, generic representation of the driving environment, so-called Parametric Free Space (PFS) maps, specifically suitable for future Advanced Driver Assistance Systems (ADAS) and bring them into line with existing metric representations known from mobile robotics. PFS maps combine a closed contour description of arbitrarily shaped outer free space boundaries with a representation of inner free space boundaries, respectively objects, by geometric primitives. A real-time capable algorithm is presented that obtains the representation by building upon an intermediate occupancy grid map-based environment representation generated from an automotive radar and a stereo camera. The proposed representation preserves all relevant information contained in a grid map – thus remaining function-independent – in a much more compact way, which is considered particularly important for the transmission via low data-rate automotive communication interfaces. Examples are shown in real traffic scenarios.

Title of Book: Proceedings of the IEEE Intelligent Vehicles Symposium
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: IEEE Intelligent Vehicles Symposium
Event Location: Gold Coast, Australia
Event Dates: 23.-26. June 2013
Date Deposited: 01 Jul 2013 09:34
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