Abstract
We present a system to carry out the elaboration of efficient topological maps for autonomous driving applications by using lanelets in satellite images provided by an open source tool such as JOSM (Java Open Street Maps). Our approach is motivated by the need for more efficient and frequent updates on large-scale maps in self driving applications. The system chains the elaboration of an adjusted topological map by using JOSM and its subsequent evaluation using both V-REP simulator and real world tests based on a route planning method (Dijkstra) and trajectory tracking algorithms to implement a ROS based autonomous electric vehicle able to drive in urban areas.
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Acknowledgment
This work has been partially funded by the Spanish MINECO/FEDER through the SmartElderlyCar project (TRA2015-70501-C2-1-R), the DGT through the SERMON project (SPIP2017-02305), and from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de actividades I+D (CAM) and cofunded by EU Structural Funds.
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Murciego, E. et al. (2019). Topological Road Mapping for Autonomous Driving Applications. In: Fuentetaja Pizán, R., García Olaya, Á., Sesmero Lorente, M., Iglesias Martínez, J., Ledezma Espino, A. (eds) Advances in Physical Agents. WAF 2018. Advances in Intelligent Systems and Computing, vol 855. Springer, Cham. https://doi.org/10.1007/978-3-319-99885-5_18
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DOI: https://doi.org/10.1007/978-3-319-99885-5_18
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