Holdings: Grid-based environment estimation for local autonomous vehicle navigation

Grid-based environment estimation for local autonomous vehicle navigation:

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Bibliographic Details
Main Author:	Tanzmeister, Georg (Author)
Format:	Thesis Book
Language:	English
Published:	Düsseldorf VDI Verlag 2016
Edition:	Als Manuskript gedruckt
Series:	Fortschritt-Berichte VDI / 8 Nr. 1246
Subjects:	Umweltmodell > Informatik Lokalisierung > Robotik Kollisionsschutz Objekterkennung Kartierung Bahnplanung Navigation Autonomes Fahrzeug Hochschulschrift
Online Access:	Inhaltsverzeichnis
Item Description:	Literaturverzeichnis Seite 137-151
Physical Description:	XIV, 151 Seiten Illustrationen, Diagramme
ISBN:	9783185246081

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MARC


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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
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author	Tanzmeister, Georg
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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
subject_GND	(DE-588)4250471-5 (DE-588)7569134-6 (DE-588)4199255-6 (DE-588)4314334-9 (DE-588)4029803-6 (DE-588)4267628-9 (DE-588)4041457-7 (DE-588)7714938-5 (DE-588)4113937-9
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

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