Representation and Recovery of Road Geometry in YARF.

K. Kluge and Chuck Thorpe
Proceedings of the Intelligent Vehicles '92 Symposium, July, 1992, pp. 114 -119.


Download
  • Adobe portable document format (pdf) (516KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
YARF, like several other road following systems, models the road as features which form concentric circular arcs lying in a flat ground plane. Two approximations are made in order to use a linear estimation technique to determine the spine parameters. The paper demonstrates that errors due to these approximations are reduced substantially by estimating the spine parameters in a data-dependent coordinate system rather than in a vehicle-centered coordinate system. It discusses the problem of estimating the spine parameters in the presence of outlying data. Using standard least squares estimation can result in the vehicle drifting off the road due to errors in the parameter estimates caused by such contaminants in the data. The use of least median squares estimation to overcome these problems is discussed.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab

Text Reference
K. Kluge and Chuck Thorpe, "Representation and Recovery of Road Geometry in YARF.," Proceedings of the Intelligent Vehicles '92 Symposium, July, 1992, pp. 114 -119.

BibTeX Reference
@inproceedings{Thorpe_1992_1638,
   author = "K. Kluge and Chuck Thorpe",
   title = "Representation and Recovery of Road Geometry in YARF.",
   booktitle = "Proceedings of the Intelligent Vehicles '92 Symposium",
   pages = "114 -119",
   month = "July",
   year = "1992",
}