Article

Autonomous driving in semi-structured environments: mapping and planning

Authors:

Sebastian ThrunAuthors Info & Claims

ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation

Pages 3167 - 3174

Published: 12 May 2009 Publication History

Abstract

We consider the problem of autonomous driving in semi-structured environments (e.g., parking lots). Such environments have strong topological structure (graphs of drivable lanes), but maneuvers with significant deviations from those graphs are valid and frequent. We address two main challenges of operating in such environments: i) detection of topological structure from sensor data, and ii) using that structure to guide path planning. We present experimental results on both of these topics, demonstrating robust estimation of lane networks in parking lots and the benefits of using these topological networks to guide path planning.

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Cited By

Seo YUrmson C(2009)Utilizing prior information to enhance self-supervised aerial image analysis for extracting parking lot structuresProceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems10.5555/1733343.1733420(339-344)Online publication date: 10-Oct-2009
https://dl.acm.org/doi/10.5555/1733343.1733420
Seo YUrmson CWettergreen DLee JWolfson OAgrawal DLu C(2009)Augmenting cartographic resources for autonomous drivingProceedings of the 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems10.1145/1653771.1653777(13-22)Online publication date: 4-Nov-2009
https://dl.acm.org/doi/10.1145/1653771.1653777

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ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation

May 2009

4472 pages

ISBN:9781424427888

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IEEE Press

Publication History

Published: 12 May 2009

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Cited By

Seo YUrmson C(2009)Utilizing prior information to enhance self-supervised aerial image analysis for extracting parking lot structuresProceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems10.5555/1733343.1733420(339-344)Online publication date: 10-Oct-2009
https://dl.acm.org/doi/10.5555/1733343.1733420
Seo YUrmson CWettergreen DLee JWolfson OAgrawal DLu C(2009)Augmenting cartographic resources for autonomous drivingProceedings of the 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems10.1145/1653771.1653777(13-22)Online publication date: 4-Nov-2009
https://dl.acm.org/doi/10.1145/1653771.1653777

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