This paper presents a novel approach for road course estimation on rural roads using a mulitlayer laser scanner. The measurements of the sensor are used to build an occupancy grid as a representation of a local map. This mapping step uses a new free space function and a novel method for detecting and eliminating moving objects. Based on this map a feature extraction algorithm yields road border feature points. A Levenberg-Marquardt based optimization fits a flexible two-part road course model to these feature points.
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Konrad et al. (2010) studied this question.
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