Mapping with an Autonomous Car
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Date
2006
Publication Type
Conference Paper
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yes
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Abstract
In this paper, we present an approach towards mapping and safe navigation in real, large-scale environments with an autonomous car. The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and while simultaneously learning an accurate three-dimensional model of the environment. To achieve these goals, we apply probabilistic state estimation techniques, network-based pose optimization, and a sensor-based traversability analysis approach. In order to achieve fast map learning, our system compresses the sensor data using multi-level surface maps. The overall systems runs on a modified Smart car equipped with different types of sensors. We present several results obtained from extensive experiments which illustrate the capabilities of our vehicle.
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published
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ETH Zurich
Event
Workshop on Safe Navigation in Open and Dynamic Environments - Autonomous Systems versus Driving Assistance Systems held at the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006)
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03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)
Notes
Conference lecture held on October 10, 2006.