Clothoid-Based Lane-Level High-Definition Maps: Unifying Sensing and Control Models

Article Automation & Control Systems

An integrated algorithm for ego-vehicle and obstacles state estimation for autonomous driving

Mattia Bersani et al.

Summary: This paper presents an integrated algorithm for estimating the position and motion of ego-vehicle and obstacles along a given road, utilizing sensor fusion to identify and track obstacles. The algorithm has been validated through experimental tests on a prototype of an autonomous vehicle.

ROBOTICS AND AUTONOMOUS SYSTEMS (2021)

Add to Collection

Proceedings Paper Automation & Control Systems

Automatic Construction of Lane-level HD Maps for Urban Scenes

Yiyang Zhou et al.

Summary: High definition (HD) maps play a crucial role in achieving full autonomy, particularly in complex urban scenarios. Lane-level maps, as an essential layer of HD maps, provide important geometrical and topological information for lanes and intersections. This paper proposes a method based on semantic-particle filter to automatically map lane-level information in urban scenes, utilizing OpenStreetMap and semantic segmentation on 2D front-view images. The algorithm has been tested in densely urbanized areas, showing accurate and robust reconstruction of the lane-level HD map.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

Add to Collection

Article Engineering, Marine

High Definition Map for Automated Driving: Overview and Analysis

Rong Liu et al.

JOURNAL OF NAVIGATION (2020)

Add to Collection

Article Engineering, Electrical & Electronic

Generation of Horizontally Curved Driving Lines in HD Maps Using Mobile Laser Scanning Point Clouds

Lingfei Ma et al.

IEEE JOURNAL OF SELECTED TOPICS IN APPLIED EARTH OBSERVATIONS AND REMOTE SENSING (2019)

Add to Collection

Proceedings Paper Transportation Science & Technology

Optimal Path Planning with Clothoid Curves for Passenger Comfort

Edward Derek Lambert et al.

PROCEEDINGS OF THE 5TH INTERNATIONAL CONFERENCE ON VEHICLE TECHNOLOGY AND INTELLIGENT TRANSPORT SYSTEMS (VEHITS 2019) (2019)

Add to Collection

Proceedings Paper Computer Science, Artificial Intelligence

DAGMapper: Learning to Map by Discovering Lane Topology

Namdar Homayounfar et al.

2019 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2019) (2019)

Add to Collection

Article Mathematics, Applied

G(1) fitting with clothoids

Enrico Bertolazzi et al.

MATHEMATICAL METHODS IN THE APPLIED SCIENCES (2015)

Add to Collection

Clothoid-Based Lane-Level High-Definition Maps: Unifying Sensing and Control Models

Related references

An integrated algorithm for ego-vehicle and obstacles state estimation for autonomous driving

Automatic Construction of Lane-level HD Maps for Urban Scenes

High Definition Map for Automated Driving: Overview and Analysis

Generation of Horizontally Curved Driving Lines in HD Maps Using Mobile Laser Scanning Point Clouds

Optimal Path Planning with Clothoid Curves for Passenger Comfort

DAGMapper: Learning to Map by Discovering Lane Topology

G(1) fitting with clothoids

Export Citation

Share Paper