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Probabilistic Estimation of Unmarked Roads using Radar

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Author(s): Juan I Nieto | Andres Hernandez-Gutierrez | Eduardo Nebot

Journal: Journal of Physical Agents
ISSN 1888-0258

Volume: 4;
Issue: 2;
Start page: 35;
Date: 2010;
Original page

Keywords: Localisation | radar sensors | particle filter

ABSTRACT
This paper presents a probabilistic framework for unmarked roads estimation using radar sensors. The algorithm models the sensor likelihood function as a Gaussian mixture model. This sensor likelihood is used in a Bayesian approach to estimate the road edges probability distribution. A particle filter is used as the fusion mechanism to obtain posterior estimates of the road's parameters. The main applications of the approach presented are autonomous navigation and driver assistance. The use of radar permits the system to work even under difficult environmental conditions. Experimental results with data taken in a mine environment are presented. By using a GPS mounted on the test vehicle, the algorithm outcome is registered with a satellite image of the experimental place. The registration allows to perform a qualitative analysis of the algorithm results. The results show the effectiveness of the algorithm presented.
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