Robust Point-shaped Landmark Detection Using Polarimetric Radar
IEEE Intelligent Vehicles Symposium, pp. 859–865
Abstract
This paper presents a robust detector of point-shaped landmarks by leveraging scattering information from polarimetric covariance radar gridmaps. Reliable landmarks are an essential part of any feature-based vehicle self-localization required for highly automated and autonomous driving. A polarimetric distance measure is used to extract cells with scattering behavior that is uniquely distinct from its neighborhood. Experiments on real-world data are evaluated and results from a single-, dual- and full-polarization utilization are compared. By association with a high definition map, a comparison of the suitability of different types of landmarks such as poles, guideposts and tree trunks for localization applications is made.
Authors 6
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Mercedes-Benz (Germany) · Daimler (Germany)
Affiliation as printed
Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany
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Mercedes-Benz (Germany) · Daimler (Germany)
Affiliation as printed
Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany
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Mercedes-Benz (Germany) · Daimler (Germany)
Affiliation as printed
Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany
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Mercedes-Benz (Germany) · Daimler (Germany)
Affiliation as printed
Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany
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Mercedes-Benz (Germany) · Daimler (Germany)
Affiliation as printed
Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany
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Fraunhofer Institute for High Frequency Physics and Radar Techniques · RWTH Aachen University
Affiliation as printed
Fraunhofer Institute for High Frequency Physics and Radar Techniques, Wachtberg, Germany
Institute of High Frequency Technology, RWTH Aachen University, Aachen, Germany
Cited by 3 stored of 3
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