Clustering improved grid map registration using the normal distribution transform

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn 2015-August, Issue , 2015, Pages 249-254

  Rapp, Matthias ^a   Barjenbruch, Michael ^a   Hahn, Markus ^b   Dickmann, Jurgen ^b   Dietmayer, Klaus ^a  

^a UNIVERSITY OF ULM   (Germany)

^b DAIMLER AG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CLUSTER ANALYSIS; INTELLIGENT VEHICLE HIGHWAY SYSTEMS;

CLUSTERING TECHNIQUES; CONVERGENCE PROPERTIES; GRID RESOLUTION; MAPPING AND LOCALIZATION; MULTI-SCALE CLUSTERING; OPTIMIZATION FUNCTION; REAL WORLD EXPERIMENT; REGISTRATION PERFORMANCE;

NORMAL DISTRIBUTION;

EID: 84950989821     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2015.7225694     Document Type: Conference Paper

References (17)

1. Sebastian Thrun et al., "Robotic mapping: A survey," Exploring artificial intelligence in the new millennium, pp. 1-35, 2002.
2. Renaud Dubé, Markus Hahn, Markus Schütz, Jürgen Dickmann, and Denis Gingras, "Detection of parked vehicles from a radar based occupancy grid," in Intelligent Vehicles Symposium Proceedings. IEEE, 2014, pp. 1415-1420.
3. Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Probabilistic Robotics (Intelligent Robotics and Autonomous Agents), The MIT Press, 2005.
4. Florian Schüle, Roland Schweiger, and Klaus Dietmayer, "Augmenting night vision video images with longer distance road course information," in Intelligent Vehicles Symposium (IV). IEEE, 2013, pp. 1233-1238.
5. Dragomir Anguelov, Rahul Biswas, Daphne Koller, Benson Limketkai, and Sebastian Thrun, "Learning hierarchical object maps of nonstationary environments with mobile robots," in Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence. Morgan Kaufmann Publishers Inc., 2002, pp. 10-17.
6. Peter Biber and Wolfgang Straßer, "The normal distributions transform: A new approach to laser scan matching," in IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2003, vol. 3, pp. 2743-2748.
7. Martin Ester, Hans-Peter Kriegel, Jörg Sander, and Xiaowei Xu, "A density-based algorithm for discovering clusters in large spatial databases with noise.," in Kdd, 1996, vol. 96, pp. 226-231.
8. Stuart Lloyd, "Least squares quantization in PCM," IEEE Transactions on Information Theory, vol. 28, no. 2, pp. 129-137, 1982.
9. Paul Checchin, Franck Gérossier, Christophe Blanc, Roland Chapuis, and Laurent Trassoudaine, "Radar scan matching SLAM using the Fourier-Mellin transform," in Field and Service Robotics. Springer, 2010, pp. 151-161.
10. Andreas Birk and Stefano Carpin, "Merging Occupancy Grid Maps From Multiple Robots," Proceedings of the IEEE, vol. 94, no. 7, pp. 1384-1397, July 2006.
11. Stefano Carpin, "Fast and accurate map merging for multi-robot systems," Autonomous Robots, vol. 25, no. 3, pp. 305-316, 2008.
12. Jose-Luis Blanco, Javier Gonzalez, and Juan-Antonio Fernandez-Madrigal, "A New Method for Robust and Efficient Occupancy Grid-Map Matching," in Pattern Recognition and Image Analysis, vol. 4478 of Lecture Notes in Computer Science, pp. 194-201. Springer Berlin Heidelberg, 2007.
13. Paul J. Besl and Neil D. McKay, "Method for registration of 3-D shapes," in Robotics-DL tentative. International Society for Optics and Photonics, 1992, pp. 586-606.
14. Martin Magnusson, Achim Lilienthal, and Tom Duckett, "Scan registration for autonomous mining vehicles using 3D-NDT," Journal of Field Robotics, vol. 24, no. 10, pp. 803-827, 2007.
15. Arun Das and Steven Lake Waslander, "Scan registration with multi-scale k-means normal distributions transform," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, pp. 2705-2710.
16. Hans Moravec and A. E. Elfes, "High Resolution Maps from Wide Angle Sonar," in IEEE International Conference on Robotics and Automation, March 1985, pp. 116-121.
17. Martin Magnusson and et al., "Evaluation of 3D registration reliability and speed-A comparison of ICP and NDT," in Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, May 2009, pp. 3907-3912.