TY - GEN
T1 - Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view
AU - Stiens, Kai
AU - Tanzmeister, Georg
AU - Wollherr, Dirk
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/22
Y1 - 2016/12/22
N2 - Environment mapping is a key component of autonomous navigation. In order to distinguish low obstacles from uneven ground, the shape of the ground surface has to be represented and estimated within the environment model. Elevation mapping is a computationally efficient approach that represents ground heights as well as obstacle heights without classification in a single model. This paper presents a novel approach for lidar-based elevation mapping that does not only use reflection points but combines reflections and threedimensional ray geometry from different measurements directly in the height estimation process. Especially vehicles using low mounted lidar sensors with narrow vertical field of view benefit from an increased reliability and environment coverage. The approach is described from a theoretical concept to a scalable realization and first real test case results are shown.
AB - Environment mapping is a key component of autonomous navigation. In order to distinguish low obstacles from uneven ground, the shape of the ground surface has to be represented and estimated within the environment model. Elevation mapping is a computationally efficient approach that represents ground heights as well as obstacle heights without classification in a single model. This paper presents a novel approach for lidar-based elevation mapping that does not only use reflection points but combines reflections and threedimensional ray geometry from different measurements directly in the height estimation process. Especially vehicles using low mounted lidar sensors with narrow vertical field of view benefit from an increased reliability and environment coverage. The approach is described from a theoretical concept to a scalable realization and first real test case results are shown.
UR - https://www.scopus.com/pages/publications/85010078889
U2 - 10.1109/ITSC.2016.7795617
DO - 10.1109/ITSC.2016.7795617
M3 - Conference contribution
AN - SCOPUS:85010078889
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 616
EP - 621
BT - 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
Y2 - 1 November 2016 through 4 November 2016
ER -