Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Georg Tanzmeister

doi:10.51202/9783186246080

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Bibliographic data

Copyright year: 2016
ISBN-Print: 978-3-18-524608-1
ISBN-Online: 978-3-18-624608-0
Publisher: VDI Verlag, Düsseldorf
Series: Mess-, Steuerungs- und Regelungstechnik
Volume: 1246
Language: German
Pages: 154
Product type: Book Titles

Titelei/Inhaltsverzeichnis Partial access Pages I - XIV Download chapter (PDF)
1. 1. High Prior Knowledge Navigation No access
  2. Sensor-based Navigation No access
  3. Low Prior Knowledge Navigation No access
2. EnvironmentModel No access
3. Main Contributions and Outline of the Thesis No access
1. 1. State of the Art No access
  2. Approach and Contribution No access
2. 1. Dempster–Shafer EnvironmentModel No access
  2. GTAMOverview No access
  3. Scan Grid Generation and Fusion No access
3. 1. Estimating Cell Velocity Distributions using Particle Filters No access
  2. Particle Creation and Sampling No access
  3. ParticleWeighting and Resampling No access
  4. BeliefMass Derivation No access
4. 1. Filtering over Time No access
  2. Deriving Static BayesianMaps No access
5. Results No access
6. Summary No access
1. 1. State of the Art No access
  2. Approach and Contribution No access
2. 1. ProblemFormulation No access
  2. Velocity-dependent Reachability Graph No access
  3. Path Cost and Heuristic with Unknown Goal Poses No access
  4. A*-RRTMotion Primitive Path Planner No access
3. 1. Equivalence for Local Trajectories No access
  2. Clustering with a Binary Equivalence Predicate No access
  3. Trajectory Clustering with Overlapping Clusters No access
4. Results No access
5. Summary No access
1. 1. State of the Art No access
  2. Approach and Contribution No access
2. 1. Collision Checking Fundamentals No access
  2. Extending Collision Checking to Cost Evaluation No access
3. 1. Calculation of Grayscale Dilation with Convolution No access
  2. Practical Considerations No access
4. 1. Reducing Computations by Exploiting Symmetry No access
  2. The vHGWAlgorithm No access
  3. Practical Considerations No access
5. 1. Calculating Path Costs with the Configuration Space Costs No access
  2. Determining Look-Up Positions No access
6. Results No access
7. Summary No access
1. 1. State of the Art No access
  2. Approach and Contribution No access
2. Overview No access
3. 1. The Effects of Path Clustering No access
  2. Road Boundary Estimation No access
4. 1. Single Frame Validation No access
  2. Recursive Bayesian Validation No access
5. 1. Tracking Road Courses based on Paths No access
  2. Path Association No access
6. Results No access
7. Summary No access
1. 1. Particle Convergence with Static Particle Sampling No access
  2. Parameter Evaluation No access
  3. Classification No access
  4. Estimated Velocities No access
2. 1. Road Course Validation No access
  2. Boundary Estimation Accuracy No access
  3. Comparison to Predicted Vehicle Path No access
  4. Autonomous Navigation in an Unmapped Road Scenario No access
3. Qualitative Evaluation of the Road Course Estimation with GTAM No access
4. Summary No access
Conclusion No access Pages 123 - 126
1. Prototype Vehicle and Sensor Setup No access
2. Hardware and Software Computing Platform No access
3. Local GridMapping No access
4. Path Smoothing No access
5. 1. Grid-based Tracking andMapping No access
  2. Road Course Estimation No access
Own Publications No access Pages 136 - 136
Bibliography No access Pages 137 - 154