Mapping with an Autonomous Car

  title={Mapping with an Autonomous Car},
  author={Pierre Lamon and Cyrill Stachniss and Rudolph Triebel and Christian Plagemann and Giorgio Grisetti and Sascha Kolski and Wolfram Burgard and Roland Siegwart},
In this paper, we present an approach towards mapping and safe navigation in real, large-scale environme nts with an autonomous car. The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and w hile simultaneously learning an accurate three-dimensional mo del of the environment. To achieve these goals, we apply probabili stic state estimation techniques, network-based pose optimiza tion, and a sensor-based traversability analysis approach. In or der to achieve… CONTINUE READING
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