Probabilistic road geometry estimation using a millimetre-wave radar

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

Resultado de la investigación

10 Citas (Scopus)

Resumen

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.

Idioma originalEnglish
Título de la publicación alojadaIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtítulo de la publicación alojadaCelebrating 50 Years of Robotics
Páginas4601-4607
Número de páginas7
DOI
EstadoPublished - 29 dic 2011
Evento2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA
Duración: 25 sep 201130 sep 2011

Serie de la publicación

NombreIEEE 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
PaísUnited States
CiudadSan Francisco, CA
Período25/9/1130/9/11

All Science Journal Classification (ASJC) codes

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

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  • Citar esto

    Hernandez-Gutierrez, A., Nieto, J. I., Bailey, T., & Nebot, E. M. (2011). Probabilistic road geometry estimation using a millimetre-wave radar. En 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