Zusammenfassung
Mobile robots require an accurate environment perception to plan intelligent maneuvers and avoid collisions. This thesis presents a novel multi sensor environment estimation strategy that fully combines tracking moving objects and mapping the static environment. The basic idea is to fuse and accumulate measurement data by a dynamic occupancy grid model, whereas moving objects are extracted subsequently based on that generic low-level grid representation. Overall, this work results in a robust and consistent estimation of arbitrary objects and obstacles, which is demonstrated in the context of autonomous driving in complex unstructured environments.
Contents
Notations VIII
Abstract XI
1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Challenges of Multi-Sensor Environment Perception . . . . . . . . . . . . . 2
1.3 Main Contribution and Outline of This Work . . . . . . . . . . . . . . . . 8
2 Measurement Grid Representation and Fusion 13
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.1 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.2...
Schlagworte
Autonomes Fahren Objekterkennung Objektverfolgung Occupancy Grid Mapping Sensordatenassoziation Sensordatenfusion Umfelderfassung Umgebungswahrnehmung Zustandsschätzung Autonomous Vehicles Data Association Environment Perception Moving Object Detection Object State Estimation Object Tracking Sensor Data Fusion- 1–12 1 Introduction 1–12
- 127–164 6 Evaluation 127–164
- 165–168 7 Conclusion 165–168
- 169–169 Own Publications 169–169
- 170–186 Bibliography 170–186
3 Treffer gefunden
- „... the rear). – 6 short-range radar sensors (4 corners, 2 to the left/right side). Camera sensors: – 2 ...” „... estimation is quantitatively evaluated for challenging full braking and turning maneuvers. Finally, the ...” „... upper right corner, whereas the ego vehicle is approximately aligned diagonal within the grid due to the ...”
- „... to the best observable reference point at the box corners, edge centers, or the center of the box ...” „... , a fast-moving object with vt−1 ≫ 0 that performs a full braking with a ≪ 0 would otherwise, due to a ...” „... this work, the reference point can be either at a corner, an edge center, or the center of the box, as ...”
- „... and minimizing the filtering latency for highly dynamic movements such as emergency braking. The ...” „... regarding specific object shape assumptions, for example using line, corner, or box fitting [45, 78, 79, 152 ...”