Online-estimation of road map elements using spline curves

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 measure...

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Bibliographic Details
Main Authors: Hasberg, C., Hensel, S.
Format: Conference Proceeding
Language:English
Subjects:
Cubic Spline Curve
Estimation
Kalman Filter
Mapping
Mathematical model
Parameter Estimation
Polynomials
Position measurement
Road Map
Roads
Spline
Vectors
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Summary: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.
DOI:10.1109/ICIF.2008.4632295