Incremental scenario representations for autonomous driving using geometric polygonal primitives

• Type: Article in International Scientific Journal
• Date: 2016

Authors

Oliveira, M (Author) Other; Santos, V (Author) Other; Sappa, AD (Author) Other; Dias, P (Author) Other; António Paulo Moreira (Author) FEUP

Journal

Title: Robotics and Autonomous Systems

Vol. 83

Pages: 312-325

ISSN: 0921-8890

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 5 Citations

Other information

Authenticus ID: P-00K-VXN

DOI: 10.1016/j.robot.2016.05.011

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 14