Unstructured Road SLAM using Map Predictive Road Tracking

Burger, Patrick; Naujoks, Benjamin; Wuensche, Hans-Joachim

doi:10.1109/itsc.2019.8917129

Cited by 13 publications

(4 citation statements)

References 17 publications

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“…RoadSLAM [48] separates the pointcloud into ground and non-ground through coarse segmentation and clusters it in sets of free areas. Then, a robust weighted least-squares curve fit is applied to each side of the selected free area in order to find the instance that maximizes the likelihood given the current route of the vehicle.…”

Section: Multi-cue [38]mentioning

confidence: 99%

Recent Developments on Drivable Area Estimation: A Survey and a Functional Analysis

Hortelano,

Villagrá,

Godoy

et al. 2023

Sensors

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Most advanced autonomous driving systems (ADS) today rely on the prior creation of high-definition maps (HD maps). This process is expensive and needs to be performed frequently to keep up with the changing conditions of the road environment. Creating accurate navigation maps online is an alternative to reduce the cost and broaden the current operational design domains (ODD) of modern ADS. This paper offers a snapshot of the state of the art in drivable area estimation, which is an essential technology to deploy ADS in ODDs where HD maps are limited or unavailable. The proposed review introduces a novel architecture breakdown that fits learning-based and non-learning-based techniques and allows the analysis of a set of impactful and recent drivable area algorithms. In addition to that, complimentary information for practitioners is provided: (i) an assessment of the influence of modern sensing technologies on the task under study and (ii) a selection of relevant datasets for evaluation and benchmarking purposes.

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Section: Multi-cue [38]mentioning

confidence: 99%

Recent Developments on Drivable Area Estimation: A Survey and a Functional Analysis

Hortelano,

Villagrá,

Godoy

et al. 2023

Sensors

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“… B-spline [96]  No need to assume a specific geometry of the road  High computing cost  Over-fitting need to be considered…”

Section:  Cubic-spline [95]mentioning

confidence: 99%

A Survey on Sensor Technologies for Unmanned Ground Vehicles

Liu

Yuan

2020

2020 3rd International Conference on Unmanned Systems (ICUS)

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Unmanned ground vehicles (UGVs) have a huge development potential in both civilian and military fields, and have become the focus of research in various countries. In addition, high-precision, high-reliability sensors are significant for UGVs' efficient operation. This paper proposes a brief review on sensor technologies for UGVs. Firstly, characteristics of various sensors are introduced. Then the strengths and weaknesses of different sensors as well as their application scenarios are compared. Furthermore, sensor applications in some existing UGVs are summarized. Finally, the hotspots of sensor technologies are forecasted to point the development direction.

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“…B-Splines are a compact representation for a wide variety of shapes and they are, for instance, used for road estimation [16], [17]. Additionally, there exist spline-based methods for tracking extended targets [18], [19], [20].…”

Section: Related Workmentioning

confidence: 99%

Fast 3D Extended Target Tracking using NURBS Surfaces

Naujoks

Burger

Wuensche

2019

2019 IEEE Intelligent Transportation Systems Conference (ITSC)

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This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize non-uniform rational B-splines (NURBS) surfaces to approximate the target's shape. One method estimates Cartesian scaling parameters of a NURBS surface, whereas the second method estimates the corresponding NURBS weights, too. Major advantages are the capability of estimating a fully 3D shape as well as the fast processing time. Real-world evaluations with a static and dynamic vehicle show promising results compared to state-of-the-art 3D extended target tracking algorithms.

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Unstructured Road SLAM using Map Predictive Road Tracking

Cited by 13 publications

References 17 publications

Recent Developments on Drivable Area Estimation: A Survey and a Functional Analysis

Recent Developments on Drivable Area Estimation: A Survey and a Functional Analysis

A Survey on Sensor Technologies for Unmanned Ground Vehicles

Fast 3D Extended Target Tracking using NURBS Surfaces

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