کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
411924 679596 2016 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Incremental scenario representations for autonomous driving using geometric polygonal primitives
ترجمه فارسی عنوان
بازنمایی‌های سناریو افزایشی برای رانندگی خودکار با استفاده از شکل‌های هندسی اولیه چندضلعی هندسی
کلمات کلیدی
بازسازی صحنه افزایشی. ابرهای نقطه؛ وسایل نقلیه مستقل؛ شکل‌های هندسی اولیه چندضلعی
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی

When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 83, September 2016, Pages 312–325
نویسندگان
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