NDLI: Benefits of using explicit ground-plane information for grid-based urban environment modeling

Content Provider	IEEE Xplore Digital Library
Author	Rieken, J. Matthaei, R. Maurer, M.
Copyright Year	2015
Description	Author affiliation: Inst. of Control Eng., Tech. Univ. Braunschweig, Braunschweig, Germany (Rieken, J.; Matthaei, R.; Maurer, M.)
Abstract	Future advanced driver assistant systems and automated driving put high demands on the environmental perception especially in urban environments. Major tasks are the perception of static and dynamic elements along with the drivable area and road structures. Although these tasks can be done without an explicit representation of the ground surface, evaluations with real-world sensor data have shown that many failures in sensor data interpretation result from inappropriate ground point filtering, e.g. false negative or false positive detection of objects. That means, the ground plane estimation becomes a key-task in urban environment modeling assuming a reliable perception of the local vehicle's surroundings is required. In this paper we thus present the enhancements of the environment modeling that can be derived from an explicit representation of the ground surface. We propose the combination of channel-wise ground classification with a grid-based representation of the ground height to cope with spatial false measurements and exploit interchannel dependency. Partial occlusions by other road users are handled in an efficient way. Integration of the ground data is shown by a pitch angle estimation and a curb detection module. The algorithms run in real-time on a standard PC and are evaluated with real sensor data.
Starting Page	2049
Ending Page	2056
File Size	1455990
Page Count	8
File Format	PDF
e-ISBN	9780982443866
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	ISIF
Subject Keyword	Roads Vehicles Estimation Three-dimensional displays Feature extraction Data mining Classification algorithms
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Benefits of Using Explicit Ground-Plane Information for Grid-based Urban Environment Modeling

Multimodal detection and tracking of pedestrians in urban environments with explicit ground plane extraction

Stop-line detection and localization method for intersection scenarios

Descending step classification using time-of-flight sensor data

Automatic detection of pole-like structures in 3D urban environments

Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment

Geometric entities information for feature extraction of solid model based on DXF file

3D LIDAR-based ground segmentation

A novel stereovision algorithm for obstacles detection based on U-V-disparity approach

Benefits of using explicit ground-plane information for grid-based urban environment modeling

Similar Documents

Benefits of Using Explicit Ground-Plane Information for Grid-based Urban Environment Modeling

Multimodal detection and tracking of pedestrians in urban environments with explicit ground plane extraction

Stop-line detection and localization method for intersection scenarios

Descending step classification using time-of-flight sensor data

Automatic detection of pole-like structures in 3D urban environments

Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment

Geometric entities information for feature extraction of solid model based on DXF file

3D LIDAR-based ground segmentation

A novel stereovision algorithm for obstacles detection based on U-V-disparity approach

Benefits of using explicit ground-plane information for grid-based urban environment modeling