Probabilistic road geometry estimation using a millimetre-wave radar

Andres Hernandez-Gutierrez, Juan I. Nieto, Tim Bailey, Eduardo M. Nebot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper presents a probabilistic framework for road geometry estimation using a millimetre wave radar. It aims at estimating the geometry of roads without assuming any particular infrastructure such as lane marks. It provides also the vehicle location with respect to the edges of the road. This system employs a radar sensor in view of its robustness to weather conditions such as fog, dust, rain and snow. The proposed approach is robust to noisy measurements since the radar target locations are modelled as Gaussian distributions. These observations are integrated into a Kalman Particle filter to estimate the posterior distribution of the parameters that best describe the geometry of the road. Experimental results using data acquired on a highway road are presented. The effectiveness of the proposed approach is demonstrated by a qualitative analysis of the results.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4601-4607
Number of pages7
DOIs
Publication statusPublished - 29 Dec 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period25/9/1130/9/11

Fingerprint

Millimeter waves
Radar
Geometry
Gaussian distribution
Fog
Snow
Rain
Dust
Sensors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Hernandez-Gutierrez, A., Nieto, J. I., Bailey, T., & Nebot, E. M. (2011). Probabilistic road geometry estimation using a millimetre-wave radar. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4601-4607). [6048428] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048428
Hernandez-Gutierrez, Andres ; Nieto, Juan I. ; Bailey, Tim ; Nebot, Eduardo M. / Probabilistic road geometry estimation using a millimetre-wave radar. IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. pp. 4601-4607 (IEEE International Conference on Intelligent Robots and Systems).
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abstract = "This paper presents a probabilistic framework for road geometry estimation using a millimetre wave radar. It aims at estimating the geometry of roads without assuming any particular infrastructure such as lane marks. It provides also the vehicle location with respect to the edges of the road. This system employs a radar sensor in view of its robustness to weather conditions such as fog, dust, rain and snow. The proposed approach is robust to noisy measurements since the radar target locations are modelled as Gaussian distributions. These observations are integrated into a Kalman Particle filter to estimate the posterior distribution of the parameters that best describe the geometry of the road. Experimental results using data acquired on a highway road are presented. The effectiveness of the proposed approach is demonstrated by a qualitative analysis of the results.",
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Hernandez-Gutierrez, A, Nieto, JI, Bailey, T & Nebot, EM 2011, Probabilistic road geometry estimation using a millimetre-wave radar. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048428, IEEE International Conference on Intelligent Robots and Systems, pp. 4601-4607, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/9/11. https://doi.org/10.1109/IROS.2011.6048428

Probabilistic road geometry estimation using a millimetre-wave radar. / Hernandez-Gutierrez, Andres; Nieto, Juan I.; Bailey, Tim; Nebot, Eduardo M.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4601-4607 6048428 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Hernandez-Gutierrez A, Nieto JI, Bailey T, Nebot EM. Probabilistic road geometry estimation using a millimetre-wave radar. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4601-4607. 6048428. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048428