NDLI: A Feature-Based Approach for Group-Wise Grid Map Registration

Content Provider	IEEE Xplore Digital Library
Author	Rapp, M. Giese, T. Hahn, M. Dickmann, J. Dietmeyer, K.
Copyright Year	2015
Description	Author affiliation: Inst. of Meas., Control & Microtechnol., Univ. of Ulm, Ulm, Germany (Rapp, M.; Dietmeyer, K.) \|\| Daimler AG in Ulm, Ulm, Germany (Giese, T.; Hahn, M.; Dickmann, J.)
Abstract	For autonomous vehicles and advanced driver assistance systems, information on the actual state of the environment is fundamental for localization and mapping tasks. Localization benefits from multiple observations of the same location at different times as these may provide important information on static and mobile objects. For efficient mapping, the environment may be explored in parallel. For these purposes, multiple observations represented by grid maps have to be aligned into one mutual frame. This paper addresses the problem of group-wise grid map registration using an image processing approach. For registration, a rotational-invariant descriptor is proposed in order to provide the correspondences of points of interest in radar-based occupancy grid maps. As pairwise registration of multiple grid maps suffers from bias, this paper proposes a graph-based approach for robust registration of multiple grid maps. This will facilitate highly accurate range sensor maps for the aforementioned purposes. Large-scale experiments show the benefit of the proposed methods and compare it to state-of-the-art algorithms on radar measurements.
Starting Page	511
Ending Page	516
File Size	560323
Page Count	6
File Format	PDF
ISSN	21530017
e-ISBN	9781467365963
DOI	10.1109/ITSC.2015.90
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radar Detectors Robustness Estimation Feature extraction Optimization
Content Type	Text
Resource Type	Article

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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
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