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Mapping with an Autonomous Car using Multi-Level Surface Maps Patrick Pfaff Graduiertenkolleg “Embedded Microsystems”, Universität Freiburg The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and while simultaneously learning an accurate three-dimensional model of the environment. To achieve these goals, we apply probabilistic state estimation techniques, network-based pose optimization, and a sensor-based traversability analysis approach. In order to achieve fast map learning, our system compresses the sensor data using multi-level surface maps. The overall systems runs on a modified Smart car equipped with different types of sensors. We present several results obtained from extensive experiments which illustrate the capabilities of our vehicle.
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