Estimation of the Free Space in Front of a Moving Vehicle
2009 (English)In: Proceedings of the '09 SAE World Congress & Exhibition, 2009Conference paper (Refereed)
There are more and more systems emerging making use of measurements from a forward looking radar and a forward looking camera. It is by now well known how to exploit this data in order to compute estimates of the road geometry, tracking leading vehicles, etc. However, there is valuable information present in the radar concerning stationary objects, that is typically not used. The present work shows how radar measurements of stationary objects can be used to obtain a reliable estimate of the free space in front of a moving vehicle. The approach has been evaluated on real data from highways and rural roads in Sweden.
Place, publisher, year, edition, pages
Road geometry, Weighted least squares, Quadratic program, Road borders, Free space estimation, Automotive radar, Road mapping
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-44998DOI: 10.4271/2009-01-1288Local ID: 79290ISBN: 978-0-7680-2126-4OAI: oai:DiVA.org:liu-44998DiVA: diva2:265860
SAE World Congress & Exhibition, April 2009, Detroit, MI, USA