City traffic is a dynamic system of enormous complexity. Modeling and predicting city traffic flow remains to be a challenge task and the main difficulties are how to specify the supply and demands and how to parameterize the model. In this paper we attempt to solve these problems with the help of large amount of floating car data. We propose a coarse-grained cellular automata model that simula...

gramme " La Route Automatisée " (http://www.lara.prd.fr/) and the Euro-pean project IST-1999-12224 " Sensing of Car Environment at Low Speed Driving " Abstract— A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. In particular, target tracking is still challenging i...

The majority of existing approaches to mobile robot localization assume that the world is static, which clearly does not hold in most real-world application domains. In this paper we present a probabilistic approach to global localization in reconfigurable environments, where the robot pose and the environment state are jointly estimated using a RaoBlackwellized particle filter. The environment...

Exploration and mapping belongs to the fundamental tasks of mobile robots. In the past, many approaches have used occupancy grid maps to represent the environment during the map building process. Occupancy grids, however, are based on the assumption that each cell is either occupied or free. In this paper we introduce coverage maps as an alternative way of representing the environment of a robo...

Generating maps belongs to the fundamental tasks of mobile robots. In the past, many approaches have used occupancy grid maps to represent the environment during mapping and exploration. Occupancy grids, however, are based on the assumption that each cell is either occupied or free. In this paper we introduce coverage maps as an alternative way of representing the environment of a robot. Covera...

This paper presents a method for determining the free space in a scene as viewed by a vehicle-mounted camera. Using disparity maps from a stereo camera and known camera motion, the disparity maps are first filtered by an iconic Kalman filter, operating on each pixel individually, thereby reducing variance and increasing the density of the filtered disparity map. Then, a stochastic occupancy gri...

In this paper, a method is proposed for building occupancy grid based maps from sequences of stereo images in real time. The stereo camera can move and rotate unconstrained in three dimensions. This distinguishes the method from all other mapping approaches, which constrain the sensor to move in two dimensions. This freedom of motion allows to perform mapping in many new application areas. Addi...

This paper presents a rectangular cuboid approximation framework (RMAP) for 3D mapping. The goal of RMAP is to provide computational and memory efficient environment representations for 3D robotic mapping using axis aligned rectangular cuboids (RC). This paper focuses on two aspects of the RMAP framework: (i) An occupancy grid approach and (ii) A RC approximation of 3D environments based on poi...

An adaptive agent improves its performance by learning from experience. This paper describes an approach to adaptation based on modelling dynamic elements of the environment in order to make predictions of likely future state. This approach is akin to an elite sports player being able to “read the play”, allowing for decisions to be made based on predictions of likely future outcomes. Modelling...