Details

Autor(en) / Beteiligte

• Senanayake, Ransalu
• Hatch, Kyle Beltran
• Zheng, Jason
• Kochenderfer, Mykel J.

Titel

3D Radar Velocity Maps for Uncertain Dynamic Environments

Ist Teil von

• 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, p.4854-4860

Ort / Verlag

IEEE

Erscheinungsjahr

2021

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning. Safe and efficient transportation requires reasoning about the 3D flow of traffic and properly modeling uncertainty. Several different approaches can be taken for developing 3D velocity maps. This paper explores a Bayesian approach that captures our uncertainty in the map given training data. The approach involves projecting spatial coordinates into a high-dimensional feature space and then applying Bayesian linear regression to make predictions and quantify uncertainty in our estimates. On a collection of air and ground datasets, we demonstrate that this approach is effective and more scalable than several alternative approaches.