Probabilistic estimation of unmarked roads using radar
Por favor, use este identificador para citar o enlazar este ítem:
http://hdl.handle.net/10045/14176
Título: | Probabilistic estimation of unmarked roads using radar |
---|---|
Autor/es: | Nieto, Juan | Hernández Gutiérrez, Andrés | Nebot, Eduardo |
Palabras clave: | Localisation | Radar sensors | Particle filter |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial |
Fecha de publicación: | may-2010 |
Editor: | Red de Agentes Físicos |
Cita bibliográfica: | NIETO, Juan; HERNÁNDEZ GUTIÉRREZ, Andrés; NEBOT, Eduardo. “Probabilistic estimation of unmarked roads using radar”. Journal of Physical Agents. Vol. 4, No. 2 (May 2010). ISSN 1888-0258, pp. 35-41 |
Resumen: | This paper presents a probabilistic framework for unmarked roads estimation using radar sensors. The algorithm models the sensor likelihood function as a Gaussian mixture model. This sensor likelihood is used in a Bayesian approach to estimate the road edges probability distribution. A particle filter is used as the fusion mechanism to obtain posterior estimates of the road’s parameters. The main applications of the approach presented are autonomous navigation and driver assistance. The use of radar permits the system to work even under difficult environmental conditions. Experimental results with data acquired in a mine environment are presented. By using a GPS mounted on the test vehicle, the algorithm outcome is registered with a satellite image of the experimental place. The registration allows to perform a qualitative analysis of the algorithm results. The results show the effectiveness of the algorithm presented. |
Patrocinador/es: | This work has been partially supported by CONACYT and SEP Mexico, the ARC Centre of Excellence programme, funded by the Australian Research Council (ARC) and the New South Wales State Government. |
URI: | http://hdl.handle.net/10045/14176 | http://dx.doi.org/10.14198/JoPha.2010.4.2.05 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2010.4.2.05 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Aparece en las colecciones: | Journal of Physical Agents - 2010, Vol. 4, No. 2 |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
---|---|---|---|---|
JoPha_4_2_05.pdf | 3,1 MB | Adobe PDF | Abrir Vista previa | |
Este ítem está licenciado bajo Licencia Creative Commons