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Road Intensity Based Mapping using Radar Measurements with a Probability Hypothesis Density Filter
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology. (Sensor Fusion)
Volvo Car Corporation, Sweden. (Active Safety Electronics)
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology. (Sensor Fusion)
2011 (English)Report (Other academic)
Abstract [en]

Mapping stationary objects is essential for autonomous vehicles and many autonomous functions in vehicles. In this contribution the probability hypothesis density (PHD) filter framework is applied to automotive imagery sensor data for constructing such a map, where the main advantages are that it avoids the detection, the data association and the track handling problems in conventional multiple-target tracking, and that it gives a parsimonious representation of the map in contrast to grid based methods. Two original contributions address the inherent complexity issues of the algorithm: First, a data clustering algorithm is suggested to group the components of the PHD into different clusters, which structures the description of the prior and considerably improves the measurement update in the PHD filter. Second, a merging step is proposed to simplify the map representation in the PHD filter. The algorithm is applied to multi-sensor radar data collected on public roads, and the resulting map is shown to well describe the environment as a human perceives it.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. , 15 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2994
Keyword [en]
Clustering ; Gaussian mixture ; PHD ; Mapping ; Probability hypothesis density ; Road edge estimation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97941ISRN: LiTH-ISY-R-2994OAI: oai:DiVA.org:liu-97941DiVA: diva2:650719
Projects
IVSS - SEFSCADICS
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-09-01Bibliographically approved

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Lundquist, ChristianGustafsson, Fredrik
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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Language
  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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  • asciidoc
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