Abstract
Road network maps have been used for autonomous vehicle path planning. These maps are basically formed by GPS waypoints and can contain semantic information about the environment to help following traffic codes. This paper describes a novel method for automatic construction of a waypoint map containing semantic information about roads. The collected GPS points are stored into flexible waypoint data structures that can represent any relevant information for vehicle navigation. The mapping method also reduces the amount of waypoints by recognizing and converting them into traffic structures. The resulting waypoint map is stored in a text file which is both human and machine-readable. This work makes part of CaRINA II platform, an autonomous vehicle under development by the Mobile Robotics Laboratory (LRM) - ICMC/USP. Tests were conducted in urban environment and the resulting maps were consistent when compared to publicly available satellite maps.
D.F. Wolf—The authors acknowledge the grant provided by FAPESP (process no. 10/01305-1 and 12/02354-1) and CNPq (process no. 158581/2013-0), and thank the Mobile Robotics Laboratory members for their support.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bastian, M., Heymann, S., Jacomy, M.: Gephi: An Open Source Software for Exploring and Manipulating Networks (2009)
Bradski, G., Kaehler, A.: Learning OpenCV: Computer Vision with the OpenCV Library. O’Reilly Media, Sebastopol (2008)
Chernov, N., Lesort, C.: Least squares fitting of circles. J. Math. Imaging Vis. 23(3), 239–252 (2005)
Chernov, N.: Circular and Linear Regression: Fitting Circles and Lines by Least Squares. CRC Press, Boca Raton (2010)
Czerwionka, P., Wang, M., Wiesel, F.: Optimized route network graph as map reference for autonomous cars operating on German autobahn. In: 2011 5th International Conference on Automation, Robotics and Applications (ICARA), pp. 78–83, Dec 2011
Fernandes, L.C., Souza, J.R., Pessin, G., Shinzato, P.Y., Sales, D., Mendes, C., Prado, M., Klaser, R., Magalhães, A.C., Hata, A., Pigatto, D., Branco, K.C., Grassi Jr., V., Osorio, F.S., Wolf, D.F.: CaRINA intelligent robotic car: architectural design and applications. J. Syst. Architect. 60(4), 372–392 (2014)
Filho, C.M., Wolf, D.F., Grassi Jr., V., Osório, F.S.: Longitudinal and lateral control for autonomous ground vehicles. In: 2014 IEEE Intelligent Vehicles Symposium (IV) (2014)
Gander, W., Golub, G., Strebel, R.: Least-squares fitting of circles and ellipses. BIT Num. Math. 34(4), 558–578 (1994)
Jin, P., Zhang, X.: A new approach to modeling city road network. In: 2010 International Conference on Computer Application and System Modeling (ICCASM), vol. 2, pp. V2–305–V2–309, Oct 2010
Lee, Y.C., Christiand, Yu, W., Kim, S.: Satellite image based topological map building method for intelligent mobile robots. In: 2012 IEEE Intelligent Vehicles Symposium (IV), pp. 867–872, June 2012
Levenberg, K.: A method for the solution of certain non-linear problems in least squares. Quart. Appl. Math. 2, 164–168 (1944)
Marquardt, D.W.: An algorithm for least-squares estimation of nonlinear parameters. SIAM J. Appl. Math. 11(2), 431–441 (1963)
Moré, J.J., Garbow, B.S., Hillstrom, K.E.: User Guide for MINPACK-1. ANL-80-74, Argonne National Laboratory (1980)
Qin, B., Chong, Z., Bandyopadhyay, T., Ang, M.: Metric mapping and topo-metric graph learning of urban road network. In: 2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM), pp. 119–123, Nov 2013
Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)
Shakarji, C.M.: Least-squares fitting algorithms of the NIST algorithm testing system. J. Res. Nat. Inst. Stand. Technol. 103(6), 633–641 (1998)
Shi, W., Shen, S., Liu, Y.: Automatic generation of road network map from massive GPS, vehicle trajectories. In: 12th International IEEE Conference on Intelligent Transportation Systems, ITSC 2009, pp. 1–6, Oct 2009
Snedecor, G., Cochran, W.: Statistical Methods. Statistical Methods, vol. 276. Iowa State University Press, Ames (1989)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zoccoler, M., Shinzato, P.Y., Hata, A.Y., Wolf, D.F. (2015). Automatic Semantic Waypoint Mapping Applied to Autonomous Vehicles. In: Osório, F., Wolf, D., Castelo Branco, K., Grassi Jr., V., Becker, M., Romero, R. (eds) Robotics. SBR 2014 ROBOCONTROL LARS 2014 2014 2014. Communications in Computer and Information Science, vol 507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48134-9_6
Download citation
DOI: https://doi.org/10.1007/978-3-662-48134-9_6
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-48133-2
Online ISBN: 978-3-662-48134-9
eBook Packages: Computer ScienceComputer Science (R0)