Online-estimation of road map elements using spline curves

Abstract

Abstract—The basis for map assisted moving target tracking is a correct and up-to-date representation of the environment. In this contribution a method is proposed to model curved structures, e.g. roads or tracks, with cubic spline curves. The unknown model parameters are estimated based on corrupted measurements using a probabilistic approach. In particular, the method presented results in a linear formulation of the estimation problem, that offers itself to standard optimal estimation tech-niques. While the parameters are adapted to the measurements, the geometric progression of the curve is locally adjusted. The resulting representation provides information about the expected geometric run and the uncertainty of the estimated curve.