TY - GEN
T1 - Probabilistic road geometry estimation using a millimetre-wave radar
AU - Hernandez-Gutierrez, Andres
AU - Nieto, Juan I.
AU - Bailey, Tim
AU - Nebot, Eduardo M.
PY - 2011/12/29
Y1 - 2011/12/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455175250&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455175250&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/6062044f-43eb-3d8b-b4fb-af80bb76b87a/
U2 - 10.1109/IROS.2011.6048428
DO - 10.1109/IROS.2011.6048428
M3 - Conference contribution
AN - SCOPUS:84455175250
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4601
EP - 4607
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -