Augmenting autonomous vehicle sensor processing with prior data

Elliot R. Johnson; Marc C. Alban; Richard D. Garcia; Kristopher C. Kozak

doi:10.1117/12.2266706

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5 May 2017 Augmenting autonomous vehicle sensor processing with prior data

Elliot R. Johnson, Marc C. Alban, Richard D. Garcia, Kristopher C. Kozak

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Proceedings Volume 10195, Unmanned Systems Technology XIX; 101950I (2017) https://doi.org/10.1117/12.2266706
Event: SPIE Defense + Security, 2017, Anaheim, California, United States

Abstract

Sensor augmentation with a priori data effectively expands the sensing range and adds new sensing modalities. High resolution elevation maps are registered to live estimates of the ground height to provide robust GPS estimates and to avoid steep slopes which may be unobservable by the sensors. Live sensor data is fused into persistent maps that are continuously relaxed and updated with new information. The map provides a robust location estimate and can be fused with the current live costmap to fill in gaps beyond the sensing horizon, allowing the navigation system to effectively re-route the vehicle over large distances.

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Elliot R. Johnson, Marc C. Alban, Richard D. Garcia, and Kristopher C. Kozak "Augmenting autonomous vehicle sensor processing with prior data", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950I (5 May 2017); https://doi.org/10.1117/12.2266706

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