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Pierre Lamon, Cyrill Stachniss, Rudolph Triebel, Patrick Pfaff, Christian Plagemann, Giorgio Grisetti, Sascha Kolski, Wolfram Burgard, Roland Siegwart Mapping with an Autonomous Car abstract: In this paper, we present an approach towards mapping and safe navigation in real, large-scale environments with an autonomous car. The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and while simultaneously learning an accurate three-dimensional model of the environment. To achieve these goals, we apply probabilistic state estimation techniques, network-based pose optimization, and a sensor-based traversability analysis approach. In order to achieve fast map learning, our system compresses the sensor data using multi-level surface maps. The overall system runs on a modified Smart car equipped with different types of sensors. We present several results obtained from extensive experiments which illustrate the capabilities of our vehicle. Bibtex:
@InProceedings{triebel06iros,
author = {P. Lamon, C. Stachniss, R. Triebel, P. Pfaff, C. Plagemann, G. Grisetti, S. Kolski, W. Burgard, and Roland Siegwart},
tital = {Mapping with an Autonomous Car},
booktitle = {In Proc. of the Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China},
}
PDF-File: paper 12778 KB pdf-file. |