Schreier, Matthias ; Willert, Volker ; Adamy, Jürgen (2013)
From Grid Maps to Parametric Free Space Maps - A Highly Compact, Generic Environment Representation for ADAS.
IEEE Intelligent Vehicles Symposium. Gold Coast, Australia (23.-26. June 2013)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (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.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Schreier, Matthias ; Willert, Volker ; Adamy, Jürgen |
| Art des Eintrags: | Bibliographie |
| Titel: | From Grid Maps to Parametric Free Space Maps - A Highly Compact, Generic Environment Representation for ADAS |
| Sprache: | Englisch |
| Publikationsjahr: | 23 Juni 2013 |
| Buchtitel: | Proceedings of the IEEE Intelligent Vehicles Symposium |
| Veranstaltungstitel: | IEEE Intelligent Vehicles Symposium |
| Veranstaltungsort: | Gold Coast, Australia |
| Veranstaltungsdatum: | 23.-26. June 2013 |
| Kurzbeschreibung (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. |
| Freie Schlagworte: | PRORETA3 |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 01 Jul 2013 09:34 |
| Letzte Änderung: | 17 Jan 2020 11:31 |
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