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dc.contributor.author
Lamon, Pierre
dc.contributor.author
Stachniss, Cyrill
dc.contributor.author
Triebel, Rudolph
dc.contributor.author
Pfaff, Patrick
dc.contributor.author
Plagemann, Christian
dc.contributor.author
Grisetti, Giorgio
dc.contributor.author
Kolski, Sascha
dc.contributor.author
Burgard, Wolfram
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2021-08-02T09:54:52Z
dc.date.available
2021-08-02T09:15:01Z
dc.date.available
2021-08-02T09:54:52Z
dc.date.issued
2006
dc.identifier.uri
http://hdl.handle.net/20.500.11850/498884
dc.identifier.doi
10.3929/ethz-a-010079476
dc.description.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.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Mapping with an Autonomous Car
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2014
ethz.size
11 p.
en_US
ethz.code.ddc
DDC - DDC::6 - Technology, medicine and applied sciences::620 - Engineering & allied operations
en_US
ethz.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)
en_US
ethz.event.location
Beijing, China
en_US
ethz.event.date
October 10, 2006
en_US
ethz.notes
Conference lecture held on October 10, 2006.
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-11T07:06:18Z
ethz.source
ECOL
ethz.source
ECIT
ethz.identifier.importid
imp59366b52e72b831527
ethz.identifier.importid
imp593651c9575a222478
ethz.ecolpid
eth:8104
ethz.ecitpid
pub:130272
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-08-02T09:15:09Z
ethz.rosetta.lastUpdated
2022-03-29T10:52:07Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/154351
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/82649
ethz.COinS
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