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

1. Fabio Weishaupt

   Mercedes-Benz (Germany) · Daimler (Germany)

   Affiliation as printed

   Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany

2. Patrick S. Will

   Mercedes-Benz (Germany) · Daimler (Germany)

   Affiliation as printed

   Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany

3. Nils Appenrodt

   Mercedes-Benz (Germany) · Daimler (Germany)

   Affiliation as printed

   Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany

4. Julius F. Tilly

   Mercedes-Benz (Germany) · Daimler (Germany)

   Affiliation as printed

   Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany

5. Jürgen Dickmann

   Mercedes-Benz (Germany) · Daimler (Germany)

   Affiliation as printed

   Environment Perception, Research & Development, Mercedes-Benz AG, Stuttgart, Germany

6. Dirk Heberling Aachen Institute of High Frequency Technology

   RWTH Aachen University · Fraunhofer Institute for High Frequency Physics and Radar Techniques

   Affiliation as printed

   Fraunhofer Institute for High Frequency Physics and Radar Techniques, Wachtberg, Germany

   Institute of High Frequency Technology, RWTH Aachen University, Aachen, Germany