Evaluation method and results for the accuracy of an automotive occupancy grid

Author

Grewe, R. ; Komar, Maria ; Hohm, Andree ; Lueke, S. ; Winner, Hermann

Author_Institution

Div. Chassis & Safety, Adv. Eng., Continental, Lindau am Bodensee, Germany

fYear

2012

fDate

24-27 July 2012

Firstpage

19

Lastpage

24

Abstract

This paper presents an evaluation method for the accuracy of automotive occupancy grids and results for the influence of the discretization and pose estimation of a radar based grid mapping algorithm. An automotive centric review of evaluation methods and map quality measures developed for robotic applications is given. Based on the results of the review, an extensible toolset to create ground truth maps and to compare them against automotive grid maps using different map quality measurements is proposed. Several map quality measures are compared and the best performing method to evaluate the accuracy of a radar based occupancy grid mapping algorithm is chosen.

Keywords

SLAM (robots); automobiles; driver information systems; mobile robots; pose estimation; road vehicle radar; robot vision; automotive occupancy grid accuracy; discretization errors; evaluation methods; ground truth maps; map quality measurements; pose estimation; radar-based occupancy grid mapping algorithm; robotic applications; Accuracy; Automotive engineering; Estimation; Global Positioning System; Measurement uncertainty; Position measurement; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicular Electronics and Safety (ICVES), 2012 IEEE International Conference on

Conference_Location

Istanbul

Print_ISBN

978-1-4673-0992-9

Type

conf

DOI

10.1109/ICVES.2012.6294297

Filename

6294297