Title :
Online-estimation of road map elements using spline curves
Author :
Hasberg, Carsten ; Hensel, Stefan
Author_Institution :
Inst. for Mess- und Regelungstech., Univ. Karlsruhe, Karlsruhe
fDate :
June 30 2008-July 3 2008
Abstract :
The basis for map assisted moving target tracking is a correct and up-to-date representation of the environment. In this contribution a method is proposed to model curved structures, e.g. roads or tracks, with cubic spline curves. The unknown model parameters are estimated based on corrupted measurements using a probabilistic approach. In particular, the method presented results in a linear formulation of the estimation problem, that offers itself to standard optimal estimation techniques. While the parameters are adapted to the measurements, the geometric progression of the curve is locally adjusted. The resulting representation provides information about the expected geometric run and the uncertainty of the estimated curve.
Keywords :
cartography; geometry; motion estimation; parameter estimation; probability; splines (mathematics); cubic spline curves; curve geometric progression; curved structures; environment representation; linear formulation; online-estimation; probabilistic approach; road map elements; standard optimal estimation techniques; unknown model parameters estimation; Cubic Spline Curve; Kalman Filter; Mapping; Parameter Estimation; Road Map;
Conference_Titel :
Information Fusion, 2008 11th International Conference on
Conference_Location :
Cologne
Print_ISBN :
978-3-8007-3092-6
Electronic_ISBN :
978-3-00-024883-2