Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Anytime Lane-Level Intersection Estimation Based on Trajectories of
  Other Traffic Participants   Estimating and understanding the current scene is an inevitable capability of
automated vehicles. Usually, maps are used as prior for interpreting sensor
measurements in order to drive safely and comfortably. Only few approaches take
into account that maps might be outdated and lead to wrong assumptions on the
environment. This work estimates a lane-level intersection topology without any
map prior by observing the trajectories of other traffic participants.
  We are able to deliver both a coarse lane-level topology as well as the lane
course inside and outside of the intersection using Markov chain Monte Carlo
sampling. The model is neither limited to a number of lanes or arms nor to the
topology of the intersection.
  We present our results on an evaluation set of 1000 simulated intersections
and achieve 99.9% accuracy on the topology estimation that takes only 36ms,
when utilizing tracked object detections. The precise lane course on these
intersections is estimated with an error of 15cm on average after 140ms. Our
approach shows a similar level of precision on 14 real-world intersections with
18cm average deviation on simple intersections and 27cm for more complex
scenarios. Here the estimation takes only 113ms in total.

12
The categories of this paper are: nucl-th
24
The categories of this paper are: dg-ga
15
The categories of this paper are: nucl-ex
30
The categories of this paper are: q-alg
9
The categories of this paper are: nlin
22
The categories of this paper are: chao-dyn
27
The categories of this paper are: comp-gas
8
The categories of this paper are: hep-ex
0
The categories of this paper are: hep-ph
19
The categories of this paper are: eess
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat
10
The categories of this paper are: q-bio
35
The categories of this paper are: mtrl-th
36
The categories of this paper are: cmp-lg
29
The categories of this paper are: funct-an