DRG: A Dynamic Relation Graph for Unified Prior-Online Environment Modeling in Urban Autonomous Driving
Rowan Dempster,Mohammad Al-Sharman,Yeshu Jain,Jeffery Li,Derek Rayside,William Melek,Rowan Dempster,Mohammad Al-Sharman,Yeshu Jain,Jeffery Li,Derek Rayside,William Melek
Environment modeling is the backbone of how autonomous agents understand the world, and therefore has significant implications for decision-making and verification. Motivated by the success of relational mapping tools such as Lanelet2, we present the Dynamic Relation Graph (DRG). The DRG is a novel method for extending prior relational maps to include online observations, creating a unified en-vir...
