11,966 research outputs found
TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China
TiEV is an autonomous driving platform implemented by Tongji University of
China. The vehicle is drive-by-wire and is fully powered by electricity. We
devised the software system of TiEV from scratch, which is capable of driving
the vehicle autonomously in urban paths as well as on fast express roads. We
describe our whole system, especially novel modules of probabilistic perception
fusion, incremental mapping, the 1st and the 2nd planning and the overall
safety concern. TiEV finished 2016 and 2017 Intelligent Vehicle Future
Challenge of China held at Changshu. We show our experiences on the development
of autonomous vehicles and future trends
SkiMap: An Efficient Mapping Framework for Robot Navigation
We present a novel mapping framework for robot navigation which features a
multi-level querying system capable to obtain rapidly representations as
diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These
are inherently embedded into a memory and time efficient core data structure
organized as a Tree of SkipLists. Compared to the well-known Octree
representation, our approach exhibits a better time efficiency, thanks to its
simple and highly parallelizable computational structure, and a similar memory
footprint when mapping large workspaces. Peculiarly within the realm of mapping
for robot navigation, our framework supports realtime erosion and
re-integration of measurements upon reception of optimized poses from the
sensor tracker, so as to improve continuously the accuracy of the map.Comment: Accepted by International Conference on Robotics and Automation
(ICRA) 2017. This is the submitted version. The final published version may
be slightly differen
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