Grid-based environment estimation for local autonomous vehicle navigation:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI Verlag
2016
|
| Ausgabe: | Als Manuskript gedruckt |
| Schriftenreihe: | Fortschritt-Berichte VDI / 8
Nr. 1246 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverzeichnis Seite 137-151 |
| Beschreibung: | XIV, 151 Seiten Illustrationen, Diagramme |
| ISBN: | 9783185246081 |
Internformat
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| 264 | 1 | |a Düsseldorf |b VDI Verlag |c 2016 | |
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| 490 | 1 | |a Fortschritt-Berichte VDI / 8 |v Nr. 1246 | |
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| 502 | |b Dissertation |c Technische Universität München |d 2015 | ||
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Datensatz im Suchindex
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| adam_text | CONTENTS
N O TA TIO N S
..........................................................................................................................
VIII
A B S TRA C
T.............................................................................................................................
XIII
ZUSAMMENFASSUNG..............................................................................................................XIV
1 INTRODUCTION 1
1.1 PRIOR KNOWLEDGE FOR AUTONOMOUS NAVIGATION IN ROAD SCENARIOS ...... 2
1.1.1 HIGH PRIOR KNOWLEDGE N
AVIGATION........................................................ 2
1.1.2 SENSOR-BASED N AV IG ATIO N
........................................................................
4
1.1.3 LOW PRIOR KNOWLEDGE N A V IG A TIO N
........................................................ 5
1.2 ENVIRONMENT M
ODEL..............................................................................................
6
1.3 MAIN CONTRIBUTIONS AND OUTLINE OF H 8
2 GRID-BASED TRACKING AND MAPPING 10
2.1 INTRODUCTION
...........................................................
...
*
10
2.1.1 STATE OF THE A R T
........................................................................................
10
2.1.2 APPROACH AND C O N TRIB U TIO N
.................................................................
12
2.2 F UNDAM
ENTALS.......................................................................................................
13
2.2.1 DEMPSTER-SHAFER ENVIRONMENT M
ODEL.................................................. 13
2.2.2 GTAM O VERVIEW
....................................................................................
15
2.2.3 SCAN GRID GENERATION AND FUSION ................... 16
2.3 THE PARTICLE M A P
.................................................................................................
21
2.3.1 ESTIMATING CELL VELOCITY DISTRIBUTIONS USING PARTICLE FILTERS ....
21
2.3.2 PARTICLE CREATION AND S A M P LIN G
...........................................................
22
2.3.3 PARTICLE WEIGHTING AND R ESAM
PLING..................................................... 26
2.3.4 BELIEF MASS D ERIV A TIO N
...........................................................................
29
2.4 THE DEMPSTER-SHAFER THEORY M A P
.................................................................
30
2.4.1 FILTERING OVER T IM E
.................................................................................
30
2.4.2 DERIVING STATIC BAYESIAN MAPS .................... 32
2.5 R ESU
LTS...................................................................................................................
34
2.6 S U M M A R Y
.............................................................................................................
39
3 DETECTION OF PRINCIPAL MOVING DIRECTIONS 40
3.1
INTRODUCTION..........................................................................................................
40
3.1.1 STATE OF THE A R T
.......................................................................................
41
3.1.2 APPROACH AND C O N TRIB U TIO N
.................................................................
44
3.2 LOCAL PATH PLANNING WITH UNKNOWN GOAL P O S E S
.............................................
45
3.2.1 PROBLEM FORM
ULATION..............................................................................
45
3.2.2 VELOCITY-DEPENDENT REACHABILITY G RA P H
............................................... 46
3.2.3 PATH COST AND HEURISTIC WITH UNKNOWN GOAL POSES ......... 48
3.2.4 A*-RRT MOTION PRIMITIVE PATH P LA N N E R
............................................
48
3.3 ENVIRONMENT-BASED TRAJECTORY
CLUSTERING......................................................... 52
3.3.1 EQUIVALENCE FOR LOCAL
TRAJECTORIES......................................................... 52
3.3.2 CLUSTERING WITH A BINARY EQUIVALENCE PREDICATE ........... 54
33.3 TRAJECTORY CLUSTERING WITH OVERLAPPING C LU STERS
...............................
56
3.4 R
ESULTS....................................................................................................................
58
3.5 S U M M A RY
........................................................................
.....................................
63
4 CONFIGURATION SPACE COSTS: COST EVALUATION ON WORKSPACE COST MAPS 64
4.1
INTRODUCTION........................................................................................
...
64
4.1.1 STATE OF THE A R T
.......................................................................................
64
4.1.2 APPROACH AND C O N TRIB U TIO N
.................................................................. 66
4.2 GRID-BASED COLLISION CHECKING AND COST E V A LU A TIO N
.....................................
66
4.2.1 COLLISION CHECKING F UNDAM ENTALS
........................................................
67
4.2.2 EXTENDING COLLISION CHECKING TO COST EVALUATION .......... 69
4.3 FAST APPROXIMATE CALCULATION OF THE CONFIGURATION SPACE COSTS FOR
ARBI-
TRARY FOOTPRINTS WITH FA M O D
...........................................................................
71
4.31 CALCULATION OF GRAYSCALE DILATION WITH CONVOLUTION
......... 72
4.3.2 PRACTICAL C
ONSIDERATIONS........................................................................
73
4.4 EFFICIENT EXACT CALCULATION OF THE CONFIGURATION SPACE COSTS FOR
RECTANGULAR
FOOTPRINTS WITH VHGW-360
..............................................................................
74
4.4.1 REDUCING COMPUTATIONS BY EXPLOITING SYMMETRY .......... 74
4.4.2 THE VHGW A LGORITHM . .................. ...... 75
4.4.3 PRACTICAL C ONSIDERATIONS
.......................................................................
76
4.5 EVALUATING CONTINUOUS PATHS ON DSCRETE G R I D S
..................................... ...
77
4.5.1 CALCULATING PATH COSTS WITH THE CONFIGURATION SPACE COSTS .... .
77
4.5.2 DETERMINING LOOK-UP P O SITIO N
S........................................................... 78
4.6 R
ESULTS...................................................................................................................
79
4.7 S U M M A RY
.....................................................................
...
86
5 ROAD COURSE AND ROAD BOUNDARY ESTIMATION 87
5.1
INTRODUCTION........................................................................
...
87
5.1.1 STATE OF THE A R T
.......................................................................................
87
5.1.2 APPROACH AND C O N TRIB U TIO N
.................................................................
89
5.2
OVERVIEW................................................................................................................
90
5.3 PATH-BASED ROAD BOUNDARY E STIM ATION
...........................................................
92
5.3.1 THE EFFECTS OF PATH CLUSTERING
..............................................................
92
5.3.2 ROAD BOUNDARY E S TIM A TIO N
.................................................................
93
5.4 ROAD COURSE VALIDATION
....................................................................................
94
5.4.1 SIRGLE FRAME V A LID A TIO N
.......................................................................
94
5.4.2 RECURSIVE BAYESIAN V ALIDATION
..............................................................
96
5.5 ROAD COURSE TRACKING ............................. 97
5.5.1 TRACKING ROAD COURSES BASED ON P A T H S
............................................... 97
5.5.2 PATH A SSO CIATIO N
....................................................................................
98
5.6 R E S U L T S .
.............................................................................................................
99
5.7 S U M M A R Y
.................................................................................................................
101
6 EVALUATION 102
6.1 EVALUATION OF THE GRID-BASED TRACKING AND M APPING
.........................................
102
6.1.1 PARTICLE CONVERGENCE WITH STATIC PARTICLE SAMPLING ......... 102
6.1.2 PARAMETER EVALUATION
...............................................................................103
6.1.3 C LASSIFICATION
..............................................................................................
108
6.1.4 ESTIMATED V ELO C
ITIES..................................................................................
109
6.2 EVALUATION OF THE ROAD COURSE E STIM A TIO N
......................................................... 113
6.2.1 ROAD COURSE V A LID A TIO N
............................................................................113
6.2.2 BOUNDARY ESTIMATION A C C U RA C Y
............................................................... 115
6.2.3 COMPARISON TO PREDICTED VEHICLE P A T H
....................................................
115
6.2.4 AUTONOMOUS NAVIGATION IN AN UNMAPPED ROAD SCENARIO ...... 116
6.3 QUALITATIVE EVALUATION OF THE ROAD COURSE ESTIMATION WITH GTAM ....
119
6.4 S U M M A R Y
.................................................................................................................
122
7 CONCLUSION 123
A APPENDIX 127
*.1 PROTOTYPE VEHICLE AND SENSOR S E TU P
.....................................................................127
A.
2 HARDWARE AND SOFTWARE COMPUTING P LATFORM
.....................................................
129
*.3 LOCAL GRID M A P P IN G
..............................................................................................129
*.4 PATH S M OOTHING.. 131
A.
5 D A T A S E T S
................................................................................................................
133
*.5.1 G RID-B^ED TRACKING AND M
APPING.............................................................133
*.5.2 ROAD COURSE E STIM A TIO N
............................................................................
133
OWN PUBLICATIONS 136
BIBLIOGRAPHY 137
|
| any_adam_object | 1 |
| author | Tanzmeister, Georg |
| author_facet | Tanzmeister, Georg |
| author_role | aut |
| author_sort | Tanzmeister, Georg |
| author_variant | g t gt |
| building | Verbundindex |
| bvnumber | BV043495456 |
| classification_rvk | ZO 4650 |
| ctrlnum | (OCoLC)951548618 (DE-599)BVBBV043495456 |
| discipline | Verkehr / Transport |
| edition | Als Manuskript gedruckt |
| format | Thesis Book |
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| spelling | Tanzmeister, Georg Verfasser aut Grid-based environment estimation for local autonomous vehicle navigation Georg Tanzmeister Als Manuskript gedruckt Düsseldorf VDI Verlag 2016 XIV, 151 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier Fortschritt-Berichte VDI / 8 Nr. 1246 Literaturverzeichnis Seite 137-151 Dissertation Technische Universität München 2015 Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Objekterkennung (DE-588)4314334-9 gnd rswk-swf Kartierung (DE-588)4029803-6 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Autonomes Fahrzeug (DE-588)7714938-5 s Navigation (DE-588)4041457-7 s Kartierung (DE-588)4029803-6 s Lokalisierung Robotik (DE-588)7569134-6 s Bahnplanung (DE-588)4267628-9 s Kollisionsschutz (DE-588)4199255-6 s Objekterkennung (DE-588)4314334-9 s Umweltmodell Informatik (DE-588)4250471-5 s DE-604 8 Fortschritt-Berichte VDI Nr. 1246 (DE-604)BV000882482 1246 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028911955&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Tanzmeister, Georg Grid-based environment estimation for local autonomous vehicle navigation Umweltmodell Informatik (DE-588)4250471-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Kollisionsschutz (DE-588)4199255-6 gnd Objekterkennung (DE-588)4314334-9 gnd Kartierung (DE-588)4029803-6 gnd Bahnplanung (DE-588)4267628-9 gnd Navigation (DE-588)4041457-7 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd |
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| title | Grid-based environment estimation for local autonomous vehicle navigation |
| title_auth | Grid-based environment estimation for local autonomous vehicle navigation |
| title_exact_search | Grid-based environment estimation for local autonomous vehicle navigation |
| title_full | Grid-based environment estimation for local autonomous vehicle navigation Georg Tanzmeister |
| title_fullStr | Grid-based environment estimation for local autonomous vehicle navigation Georg Tanzmeister |
| title_full_unstemmed | Grid-based environment estimation for local autonomous vehicle navigation Georg Tanzmeister |
| title_short | Grid-based environment estimation for local autonomous vehicle navigation |
| title_sort | grid based environment estimation for local autonomous vehicle navigation |
| topic | Umweltmodell Informatik (DE-588)4250471-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Kollisionsschutz (DE-588)4199255-6 gnd Objekterkennung (DE-588)4314334-9 gnd Kartierung (DE-588)4029803-6 gnd Bahnplanung (DE-588)4267628-9 gnd Navigation (DE-588)4041457-7 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd |
| topic_facet | Umweltmodell Informatik Lokalisierung Robotik Kollisionsschutz Objekterkennung Kartierung Bahnplanung Navigation Autonomes Fahrzeug Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028911955&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000882482 |
| work_keys_str_mv | AT tanzmeistergeorg gridbasedenvironmentestimationforlocalautonomousvehiclenavigation |