TY - GEN
T1 - Online orientation prior for dynamic grid-maps
AU - Wessner, Joseph
AU - Utschick, Wolfgang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/11
Y1 - 2021/7/11
N2 - This work gives a summary of our implemented algorithm for dynamic grid map with integrated cell-based velocity estimation. We propose a novel approach to generate prior information for the orientation of newly initialized particles. Our proposal does not rely on any additional input information as maps with the road topology, but does only rely on the vehicle motions and sensor data. Furthermore we show the improvement resulting from this prior information under certain conditions such as turning scenarios and that there is no significant degradation in other conditions.
AB - This work gives a summary of our implemented algorithm for dynamic grid map with integrated cell-based velocity estimation. We propose a novel approach to generate prior information for the orientation of newly initialized particles. Our proposal does not rely on any additional input information as maps with the road topology, but does only rely on the vehicle motions and sensor data. Furthermore we show the improvement resulting from this prior information under certain conditions such as turning scenarios and that there is no significant degradation in other conditions.
UR - http://www.scopus.com/inward/record.url?scp=85118865017&partnerID=8YFLogxK
U2 - 10.1109/IV48863.2021.9575374
DO - 10.1109/IV48863.2021.9575374
M3 - Conference contribution
AN - SCOPUS:85118865017
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 818
EP - 823
BT - 32nd IEEE Intelligent Vehicles Symposium, IV 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd IEEE Intelligent Vehicles Symposium, IV 2021
Y2 - 11 July 2021 through 17 July 2021
ER -