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Point-shaped objects are a common landmark type for environment-based vehicle self-localization. In this paper, different ways to describe point-shaped landmarks for recognition are investigated: description by absolute position, by features or by constellation in a rigid group with other point-shaped landmarks. Points described by a point group can be associated independently of the prior vehicle...
This paper compares three methods for extraction of interesting areas from radar gridmaps. Such interesting areas are useful for vehicle self-localization. The regarded methods are based on DBSCAN, MSER and Connected Components. Experimental data is collected from six test drives along the same route. The Connected Components algorithm performs best on this data with regard to the quality aspects:...
An overview on state of the art automotive radar usage is presented and the changing requirements from detection and ranging towards radar based environmental understanding for highly automated and autonomous driving deduced. The traditional segmentation in driving, manoeuvering and parking tasks vanishes at the driver less stage. Situation assessment and trajectory/manoeuver planning need to operate...
Matching radar gridmap excerpts for vehicle self-localization can be regarded as an image registration task. This paper therefore presents a new, efficient image registration approach, which is suited to radar gridmaps. It does not require sharply structured input images and is applicable to all image pairs that can be aligned by a Euclidean transformation. Few line-shaped parts of the reference image...
In robotic applications gridmaps are a common representation of the environment. For the automotive field, radar as sensing technology is suitable due to its robustness. This paper presents two radar-based grid-mapping algorithms for automotive applications like self-localization. These algorithms involve first an amplitude-based approach, which gains information about the RCS of all targets, and...
In this paper RCS measurements of traffic signs, a sign pole and a guide post for different viewing angles are presented. The signs show strongly angle dependent reflection characteristics and several sources of reflections. Furthermore, the effects of these characteristics relevant for a vehicle approaching a traffic sign are regarded. These considerations constitute a basis for using such traffic...
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