Please use this identifier to cite or link to this item:
https://doi.org/10.1109/RAM.2013.6758570
DC Field | Value | |
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dc.title | Metric mapping and topo-metric graph learning of urban road network | |
dc.contributor.author | Qin, B. | |
dc.contributor.author | Chong, Z.J. | |
dc.contributor.author | Bandyopadhyay, T. | |
dc.contributor.author | Ang Jr., M.H. | |
dc.date.accessioned | 2014-10-07T09:14:57Z | |
dc.date.available | 2014-10-07T09:14:57Z | |
dc.date.issued | 2013 | |
dc.identifier.citation | Qin, B.,Chong, Z.J.,Bandyopadhyay, T.,Ang Jr., M.H. (2013). Metric mapping and topo-metric graph learning of urban road network. IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings : 119-123. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/RAM.2013.6758570" target="_blank">https://doi.org/10.1109/RAM.2013.6758570</a> | |
dc.identifier.isbn | 9781479911998 | |
dc.identifier.issn | 2158219X | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/86020 | |
dc.description.abstract | A road map serves as a model of the road network, which is especially desired for a vehicle performing autonomous navigation in urban road environment. This paper first introduces a metric mapping algorithm for urban roads, which generates an occupancy grid map of road surfaces and boundaries. Based on the metric map, we further propose an approach to extract a topo-metric graph which captures both topological and metric information of the road network. As a detailed model of the urban roads, the metric map can be used for obstacle avoidance and local path planning, while the topo-metric graph as a compact representation that can be used for some high-level reasoning processes. Our proposed algorithms are tested in real experiments, and have shown good results. © 2013 IEEE. | |
dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/RAM.2013.6758570 | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | MECHANICAL ENGINEERING | |
dc.description.doi | 10.1109/RAM.2013.6758570 | |
dc.description.sourcetitle | IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings | |
dc.description.page | 119-123 | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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