Radar-based self-localization for autonomous vehicles:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düren
Shaker Verlag
2021
|
| Schriftenreihe: | Berichte aus der Robotik
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | XVII, 229 Seiten Illustrationen 21 cm, 390 g |
| ISBN: | 9783844078749 3844078746 |
Internformat
MARC
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| 100 | 1 | |a Pishehvari, Ahmad |e Verfasser |0 (DE-588)1237504961 |4 aut | |
| 245 | 1 | 0 | |a Radar-based self-localization for autonomous vehicles |c Ahmad Pishehvari |
| 264 | 1 | |a Düren |b Shaker Verlag |c 2021 | |
| 300 | |a XVII, 229 Seiten |b Illustrationen |c 21 cm, 390 g | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Berichte aus der Robotik | |
| 502 | |b Dissertation |c Bergische Universität Wuppertal |d 2020 | ||
| 650 | 0 | 7 | |a Sequenzielle Monte-Carlo-Methode |0 (DE-588)7603568-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a OpenStreetMap |0 (DE-588)1067339671 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Autonomes Fahrzeug |0 (DE-588)7714938-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Lokalisierung |g Robotik |0 (DE-588)7569134-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Registrierung |g Bildverarbeitung |0 (DE-588)4778903-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Umweltmodell |g Informatik |0 (DE-588)4250471-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Radarsensor |0 (DE-588)4809985-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |8 1\p |a Autonomous vehicles |0 (DLC)sh2014001434 |0 http://id.loc.gov/authorities/subjects/sh2014001434 |2 lcsh |
| 653 | |a Map matching | ||
| 653 | |a Autonomous Driving | ||
| 653 | |a Particle filtering | ||
| 653 | |a Range-Doppler registration | ||
| 653 | |a Self-localization | ||
| 653 | |a Sequential Monte Carlo | ||
| 653 | |a Dead Reckoning | ||
| 653 | |a Map registration | ||
| 653 | |a Radar | ||
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Autonomes Fahrzeug |0 (DE-588)7714938-5 |D s |
| 689 | 0 | 1 | |a Lokalisierung |g Robotik |0 (DE-588)7569134-6 |D s |
| 689 | 0 | 2 | |a Radarsensor |0 (DE-588)4809985-5 |D s |
| 689 | 0 | 3 | |a Umweltmodell |g Informatik |0 (DE-588)4250471-5 |D s |
| 689 | 0 | 4 | |a OpenStreetMap |0 (DE-588)1067339671 |D s |
| 689 | 0 | 5 | |a Registrierung |g Bildverarbeitung |0 (DE-588)4778903-7 |D s |
| 689 | 0 | 6 | |a Sequenzielle Monte-Carlo-Methode |0 (DE-588)7603568-2 |D s |
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Datensatz im Suchindex
| _version_ | 1817341319828209664 |
|---|---|
| adam_text |
CONTENTS
LIST
OF
PUBLICATIONS
I
LIST
OF
FIGURES
HI
LIST
OF
TABLES
VII
LIST
OF
ABBREVIATIONS
IX
SYMBOLS
XIII
1
INTRODUCTION
1
1.1
MOTIVATION
AND
OBJECTIVE
.
2
1.2
PROBLEM
STATEMENT
AND
CONTRIBUTION
.
4
1.3
THESIS
STRUCTURE
.
8
1
THEORETICAL
FOUNDATIONS,
SENSOR
SETUP
AND
MODELLING
2
THEORETICAL
BACKGROUND
13
2.1
BASIC
CONCEPTS
OF
THE
PROBABILITY
THEORY
.
13
2.2
PROBABILISTIC
STATE
ESTIMATION
AND
VEHICLE-ENVIRONMENT
INTERACTIONS
.
.
17
2.3
RECURSIVE
BAYESIAN
FILTERING
AND
STATE
ESTIMATION
.
22
2.4
PARTICLE
FILTER
-
NON-GAUSSIAN
MULTI-MODAL
FILTERING
.
24
2.5
COORDINATE
SYSTEMS
.
31
2.6
SELF-LOCALIZATION
.
33
2.7
DYNAMIC
VEHICLE
MODEL
AND
MOTION
PREDICTION
.
37
3
ENVIRONMENT
MODELLING
AND
REGISTRATION
45
3.1
OPENSTREETMAP
.
46
3.2
OSM
INFORMATION
PROCESSING
.
48
3.3
ADDITIONAL
MAP
LAYERS
DEVELOPMENT
BASED
ON
VORONOI
DIAGRAM
.
51
3.4
HIGH
DEFINITION
ENVIRONMENT
MODELS
.
55
4
SENSOR
SETUP
FOR
ENVIRONMENT
PERCEPTION
AND
MOTION
ESTIMATION
59
4.1
MECHANICAL
MOTION
SENSORS
.
60
4.2
FMCW
RADARS
.
62
4.3
DOPPLER
SENSOR
OBSERVATION
IN
DIFFERENT
DOMAINS
.
80
4.4
GLOBAL
NAVIGATION
SATELLITE
SYSTEM
.
83
4.5
MULTI
SENSOR
SYSTEM
SYNCHRONIZATION
.
84
II
LITERATURE
REVIEW
5
PROBLEM
STATEMENT
AND
STATE
OF
THE
ART
89
5.1
PROBLEM
STATEMENT
.
89
5.2
STATE
OF
THE
ART
.
94
5.3
OPTIMIZATION
POTENTIAL
AND
OBJECTIVE
.
100
III
IMPLEMENTATION
OF
SELF-LOCALIZATION
TECHNIQUES
6
RADAR-BASED
MAP
REGISTRATION
USING
GHM
FOR
AUTONOMOUS
DRIVING
105
6.1
CHARACTERIZATION
OF
THE
REGISTRATION
ALGORITHM
.
106
6.2
MAP
REGISTRATION
PROCEDURE
.
108
6.3
ROBUST
ESTIMATORS
AND
OBSERVATION
FILTERING
TECHNIQUES
.
109
6.4
SCAN
MATCHER
.
114
6.5
GAUSS-HELMERT-MODEL
.
116
6.6
DENSITY-BASED
WEIGHTING
TECHNIQUES
.
120
6.7
FUNCTIONALITY
EVALUATION
AND
EXPERIMENTAL
RESULTS
.
124
6.8
CONCLUSION
.
133
7
RADAR-BASED
PARTICLE
FILTERING
WITH
DIVERGENCE
AVOIDANCE
STRATEGIES
135
7.1
ABSOLUTE
SELF-LOCALIZATION
IN
GNSS-RESTRICTED
ENVIRONMENTS
.
135
7.2
OBSERVATION
CLASSIFICATION
AND
FILTERING
USING
MEASUREMENT
DENSITY
.
.
138
7.3
PERFORMANCE
MONITORING
FOR
CONVERGENCE
AND
DIVERGENCE
DETECTION
.
.
140
7.4
DIVERGENCE
AVOIDANCE
STRATEGIES
.
141
7.5
EVALUATION
PROCESS
AND
EXPERIMENTAL
RESULTS
.
148
7.6
CONCLUSION
.
155
8
RANGE-DOPPLER
REGISTRATION
-
A
NEW
MAP
REGISTRATION
TECHNIQUE
157
8.1
ALGORITHM
DESCRIPTION
OF
RANGE-DOPPLER
REGISTRATION
.
158
8.2
DOPPLER
SENSOR
*
S
EGO-VELOCITY
AND
THE
DOPPLER
RESPONSE
.
160
8.3
ENVIRONMENT
MODEL
TRANSFORMATION
FROM
CARTESIAN
TO
RD
DOMAIN
.
.
162
8.4
ASSOCIATIONS
OF
OBSERVATION
AND
GENERATED
RANGE-DOPPLER
MAP
.
.
.
.164
8.5
REGISTERING
PROCESS
AND
OPTIMIZATION
PROBLEM
FORMULATION
.
165
8.6
SIMULATION
RESULTS
AND
ANALYSIS
.
169
8.7
CONCLUSION
AND
FUTURE
WORK
.
176
9
ROBUST
RANGE-DOPPLER
REGISTRATION
WITH
HD
MAPS
179
9.1
DIFFERENT
DOMAINS
FOR
REGISTRATION
IMPLEMENTATION
.
179
9.2
CHALLENGES
OVERVIEW
AND
STRATEGIES
FOR
HIGH
ROBUSTNESS
.
181
9.3
REGISTRATION
SYSTEM
CONSTRUCTION
.
182
9.4
ADAPTIVE
DATA
ASSOCIATION
AND
RANGE-DEPENDENT
WEIGHTING
.
184
9.5
OPTIMIZATION
FORMULATION
.
187
9.6
EXPERIMENTAL
RESULTS
AND
ANALYSIS
.
189
9.7
CONCLUSION
AND
FUTURE
WORK
.
196
IV
CONCLUSION
10
SUMMARY
201
BIBLIOGRAPHY
205 |
| adam_txt |
CONTENTS
LIST
OF
PUBLICATIONS
I
LIST
OF
FIGURES
HI
LIST
OF
TABLES
VII
LIST
OF
ABBREVIATIONS
IX
SYMBOLS
XIII
1
INTRODUCTION
1
1.1
MOTIVATION
AND
OBJECTIVE
.
2
1.2
PROBLEM
STATEMENT
AND
CONTRIBUTION
.
4
1.3
THESIS
STRUCTURE
.
8
1
THEORETICAL
FOUNDATIONS,
SENSOR
SETUP
AND
MODELLING
2
THEORETICAL
BACKGROUND
13
2.1
BASIC
CONCEPTS
OF
THE
PROBABILITY
THEORY
.
13
2.2
PROBABILISTIC
STATE
ESTIMATION
AND
VEHICLE-ENVIRONMENT
INTERACTIONS
.
.
17
2.3
RECURSIVE
BAYESIAN
FILTERING
AND
STATE
ESTIMATION
.
22
2.4
PARTICLE
FILTER
-
NON-GAUSSIAN
MULTI-MODAL
FILTERING
.
24
2.5
COORDINATE
SYSTEMS
.
31
2.6
SELF-LOCALIZATION
.
33
2.7
DYNAMIC
VEHICLE
MODEL
AND
MOTION
PREDICTION
.
37
3
ENVIRONMENT
MODELLING
AND
REGISTRATION
45
3.1
OPENSTREETMAP
.
46
3.2
OSM
INFORMATION
PROCESSING
.
48
3.3
ADDITIONAL
MAP
LAYERS
DEVELOPMENT
BASED
ON
VORONOI
DIAGRAM
.
51
3.4
HIGH
DEFINITION
ENVIRONMENT
MODELS
.
55
4
SENSOR
SETUP
FOR
ENVIRONMENT
PERCEPTION
AND
MOTION
ESTIMATION
59
4.1
MECHANICAL
MOTION
SENSORS
.
60
4.2
FMCW
RADARS
.
62
4.3
DOPPLER
SENSOR
OBSERVATION
IN
DIFFERENT
DOMAINS
.
80
4.4
GLOBAL
NAVIGATION
SATELLITE
SYSTEM
.
83
4.5
MULTI
SENSOR
SYSTEM
SYNCHRONIZATION
.
84
II
LITERATURE
REVIEW
5
PROBLEM
STATEMENT
AND
STATE
OF
THE
ART
89
5.1
PROBLEM
STATEMENT
.
89
5.2
STATE
OF
THE
ART
.
94
5.3
OPTIMIZATION
POTENTIAL
AND
OBJECTIVE
.
100
III
IMPLEMENTATION
OF
SELF-LOCALIZATION
TECHNIQUES
6
RADAR-BASED
MAP
REGISTRATION
USING
GHM
FOR
AUTONOMOUS
DRIVING
105
6.1
CHARACTERIZATION
OF
THE
REGISTRATION
ALGORITHM
.
106
6.2
MAP
REGISTRATION
PROCEDURE
.
108
6.3
ROBUST
ESTIMATORS
AND
OBSERVATION
FILTERING
TECHNIQUES
.
109
6.4
SCAN
MATCHER
.
114
6.5
GAUSS-HELMERT-MODEL
.
116
6.6
DENSITY-BASED
WEIGHTING
TECHNIQUES
.
120
6.7
FUNCTIONALITY
EVALUATION
AND
EXPERIMENTAL
RESULTS
.
124
6.8
CONCLUSION
.
133
7
RADAR-BASED
PARTICLE
FILTERING
WITH
DIVERGENCE
AVOIDANCE
STRATEGIES
135
7.1
ABSOLUTE
SELF-LOCALIZATION
IN
GNSS-RESTRICTED
ENVIRONMENTS
.
135
7.2
OBSERVATION
CLASSIFICATION
AND
FILTERING
USING
MEASUREMENT
DENSITY
.
.
138
7.3
PERFORMANCE
MONITORING
FOR
CONVERGENCE
AND
DIVERGENCE
DETECTION
.
.
140
7.4
DIVERGENCE
AVOIDANCE
STRATEGIES
.
141
7.5
EVALUATION
PROCESS
AND
EXPERIMENTAL
RESULTS
.
148
7.6
CONCLUSION
.
155
8
RANGE-DOPPLER
REGISTRATION
-
A
NEW
MAP
REGISTRATION
TECHNIQUE
157
8.1
ALGORITHM
DESCRIPTION
OF
RANGE-DOPPLER
REGISTRATION
.
158
8.2
DOPPLER
SENSOR
*
S
EGO-VELOCITY
AND
THE
DOPPLER
RESPONSE
.
160
8.3
ENVIRONMENT
MODEL
TRANSFORMATION
FROM
CARTESIAN
TO
RD
DOMAIN
.
.
162
8.4
ASSOCIATIONS
OF
OBSERVATION
AND
GENERATED
RANGE-DOPPLER
MAP
.
.
.
.164
8.5
REGISTERING
PROCESS
AND
OPTIMIZATION
PROBLEM
FORMULATION
.
165
8.6
SIMULATION
RESULTS
AND
ANALYSIS
.
169
8.7
CONCLUSION
AND
FUTURE
WORK
.
176
9
ROBUST
RANGE-DOPPLER
REGISTRATION
WITH
HD
MAPS
179
9.1
DIFFERENT
DOMAINS
FOR
REGISTRATION
IMPLEMENTATION
.
179
9.2
CHALLENGES
OVERVIEW
AND
STRATEGIES
FOR
HIGH
ROBUSTNESS
.
181
9.3
REGISTRATION
SYSTEM
CONSTRUCTION
.
182
9.4
ADAPTIVE
DATA
ASSOCIATION
AND
RANGE-DEPENDENT
WEIGHTING
.
184
9.5
OPTIMIZATION
FORMULATION
.
187
9.6
EXPERIMENTAL
RESULTS
AND
ANALYSIS
.
189
9.7
CONCLUSION
AND
FUTURE
WORK
.
196
IV
CONCLUSION
10
SUMMARY
201
BIBLIOGRAPHY
205 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Pishehvari, Ahmad |
| author_GND | (DE-588)1237504961 |
| author_facet | Pishehvari, Ahmad |
| author_role | aut |
| author_sort | Pishehvari, Ahmad |
| author_variant | a p ap |
| building | Verbundindex |
| bvnumber | BV047578768 |
| classification_rvk | ZO 4660 ZO 4650 ZN 6550 |
| ctrlnum | (OCoLC)1259361865 (DE-599)DNB1226451101 |
| discipline | Elektrotechnik / Elektronik / Nachrichtentechnik Verkehr / Transport |
| discipline_str_mv | Verkehr / Transport |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV047578768 |
| illustrated | Illustrated |
| index_date | 2024-07-03T18:32:51Z |
| indexdate | 2024-12-02T15:02:20Z |
| institution | BVB |
| institution_GND | (DE-588)1064118135 |
| isbn | 9783844078749 3844078746 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-032964309 |
| oclc_num | 1259361865 |
| open_access_boolean | |
| owner | DE-573 DE-83 |
| owner_facet | DE-573 DE-83 |
| physical | XVII, 229 Seiten Illustrationen 21 cm, 390 g |
| publishDate | 2021 |
| publishDateSearch | 2021 |
| publishDateSort | 2021 |
| publisher | Shaker Verlag |
| record_format | marc |
| series2 | Berichte aus der Robotik |
| spelling | Pishehvari, Ahmad Verfasser (DE-588)1237504961 aut Radar-based self-localization for autonomous vehicles Ahmad Pishehvari Düren Shaker Verlag 2021 XVII, 229 Seiten Illustrationen 21 cm, 390 g txt rdacontent n rdamedia nc rdacarrier Berichte aus der Robotik Dissertation Bergische Universität Wuppertal 2020 Sequenzielle Monte-Carlo-Methode (DE-588)7603568-2 gnd rswk-swf OpenStreetMap (DE-588)1067339671 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Registrierung Bildverarbeitung (DE-588)4778903-7 gnd rswk-swf Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Radarsensor (DE-588)4809985-5 gnd rswk-swf 1\p Autonomous vehicles (DLC)sh2014001434 http://id.loc.gov/authorities/subjects/sh2014001434 lcsh Map matching Autonomous Driving Particle filtering Range-Doppler registration Self-localization Sequential Monte Carlo Dead Reckoning Map registration Radar (DE-588)4113937-9 Hochschulschrift gnd-content Autonomes Fahrzeug (DE-588)7714938-5 s Lokalisierung Robotik (DE-588)7569134-6 s Radarsensor (DE-588)4809985-5 s Umweltmodell Informatik (DE-588)4250471-5 s OpenStreetMap (DE-588)1067339671 s Registrierung Bildverarbeitung (DE-588)4778903-7 s Sequenzielle Monte-Carlo-Methode (DE-588)7603568-2 s DE-604 B:DE-101 application/pdf https://d-nb.info/1226451101/04 Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=032964309&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p aeplcsh-pa 0,01786 20210322 DE-101 https://d-nb.info/provenance/plan#aeplcsh-pa |
| spellingShingle | Pishehvari, Ahmad Radar-based self-localization for autonomous vehicles Sequenzielle Monte-Carlo-Methode (DE-588)7603568-2 gnd OpenStreetMap (DE-588)1067339671 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Registrierung Bildverarbeitung (DE-588)4778903-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Radarsensor (DE-588)4809985-5 gnd 1\p Autonomous vehicles (DLC)sh2014001434 http://id.loc.gov/authorities/subjects/sh2014001434 lcsh |
| subject_GND | (DE-588)7603568-2 (DE-588)1067339671 (DE-588)7714938-5 (DE-588)7569134-6 (DE-588)4778903-7 (DE-588)4250471-5 (DE-588)4809985-5 (DLC)sh2014001434 http://id.loc.gov/authorities/subjects/sh2014001434 (DE-588)4113937-9 |
| title | Radar-based self-localization for autonomous vehicles |
| title_auth | Radar-based self-localization for autonomous vehicles |
| title_exact_search | Radar-based self-localization for autonomous vehicles |
| title_exact_search_txtP | Radar-based self-localization for autonomous vehicles |
| title_full | Radar-based self-localization for autonomous vehicles Ahmad Pishehvari |
| title_fullStr | Radar-based self-localization for autonomous vehicles Ahmad Pishehvari |
| title_full_unstemmed | Radar-based self-localization for autonomous vehicles Ahmad Pishehvari |
| title_short | Radar-based self-localization for autonomous vehicles |
| title_sort | radar based self localization for autonomous vehicles |
| topic | Sequenzielle Monte-Carlo-Methode (DE-588)7603568-2 gnd OpenStreetMap (DE-588)1067339671 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Registrierung Bildverarbeitung (DE-588)4778903-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Radarsensor (DE-588)4809985-5 gnd 1\p Autonomous vehicles (DLC)sh2014001434 http://id.loc.gov/authorities/subjects/sh2014001434 lcsh |
| topic_facet | Sequenzielle Monte-Carlo-Methode OpenStreetMap Autonomes Fahrzeug Lokalisierung Robotik Registrierung Bildverarbeitung Umweltmodell Informatik Radarsensor Autonomous vehicles Hochschulschrift |
| url | https://d-nb.info/1226451101/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=032964309&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT pishehvariahmad radarbasedselflocalizationforautonomousvehicles |
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