Merfels, Christian (2014)
Large-scale probabilistic feature mapping and tracking for autonomous driving.
Technische Universität Darmstadt
Masterarbeit, Erstveröffentlichung
Kurzbeschreibung (Abstract)
Autonomous driving requires a precise vehicle localization which can be achieved by using specific maps. This creates the challenge of constructing a system that generates these maps at a large scale by fusing sensor data. The issue of producing maps was in a previous project addressed by a cumbersome and error-prone manual process which only yielded feature-based maps. The approach of this thesis is to fuse sensor data and automatically create grid- and feature-based maps with a novel integrated technique. For this purpose, a software system called gridmap is developed and a supplementary analysis framework for the resulting maps is established. This software is being used in autonomous driving projects for grid- and feature-based localization approaches in the U.S. and in Germany.
| Typ des Eintrags: | Masterarbeit | ||||
|---|---|---|---|---|---|
| Erschienen: | 2014 | ||||
| Autor(en): | Merfels, Christian | ||||
| Art des Eintrags: | Erstveröffentlichung | ||||
| Titel: | Large-scale probabilistic feature mapping and tracking for autonomous driving | ||||
| Sprache: | Englisch | ||||
| Referenten: | Peters, Prof. Dr. Jan | ||||
| Publikationsjahr: | 22 Mai 2014 | ||||
| Datum der mündlichen Prüfung: | 23 Juli 2014 | ||||
| URL / URN: | http://tuprints.ulb.tu-darmstadt.de/4112 | ||||
| Kurzbeschreibung (Abstract): | Autonomous driving requires a precise vehicle localization which can be achieved by using specific maps. This creates the challenge of constructing a system that generates these maps at a large scale by fusing sensor data. The issue of producing maps was in a previous project addressed by a cumbersome and error-prone manual process which only yielded feature-based maps. The approach of this thesis is to fuse sensor data and automatically create grid- and feature-based maps with a novel integrated technique. For this purpose, a software system called gridmap is developed and a supplementary analysis framework for the resulting maps is established. This software is being used in autonomous driving projects for grid- and feature-based localization approaches in the U.S. and in Germany. |
||||
| Alternatives oder übersetztes Abstract: |
|
||||
| URN: | urn:nbn:de:tuda-tuprints-41122 | ||||
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik > Intelligente Autonome Systeme 20 Fachbereich Informatik |
||||
| Hinterlegungsdatum: | 17 Aug 2014 19:55 | ||||
| Letzte Änderung: | 17 Aug 2014 19:55 | ||||
| PPN: | |||||
| Referenten: | Peters, Prof. Dr. Jan | ||||
| Datum der mündlichen Prüfung / Verteidigung / mdl. Prüfung: | 23 Juli 2014 | ||||
| Export: | |||||
| Suche nach Titel in: | TUfind oder in Google | ||||
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum