Incremental scenario representations for autonomous driving using geometric polygonal primitives

@article{Oliveira2016IncrementalSR,
  title={Incremental scenario representations for autonomous driving using geometric polygonal primitives},
  author={Viviane M. de Oliveira and V{\'i}tor M. F. Santos and Angel Domingo Sappa and Paulo Dias and Ant{\'o}nio Paulo Moreira},
  journal={Robotics and Autonomous Systems},
  year={2016},
  volume={83},
  pages={312-325}
}
When an autonomous vehicle is traveling through some scenario it receives a continuous streamof sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale… CONTINUE READING

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