相关论文: Enhancing Mobile Object Classification Using Geo-r…

Evidential grids have been recently used for mobile object perception. The novelty of this article is to propose a perception scheme using prior map knowledge. A geographic map is considered an additional source of information fused with a…

Automation driving techniques have seen tremendous progresses these last years, particularly due to a better perception of the environment. In order to provide safe yet not too conservative driving in complex urban environment, data fusion…

A detailed environment representation is a crucial component of automated vehicles. Using single range sensor scans, data is often too sparse and subject to occlusions. Therefore, we present a method to augment occupancy grid maps from…

A detailed environment perception is a crucial component of automated vehicles. However, to deal with the amount of perceived information, we also require segmentation strategies. Based on a grid map environment representation, well-suited…

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…

Grid maps, especially occupancy grid maps, are ubiquitous in many mobile robot applications. To simplify the process of learning the map, grid maps subdivide the world into a grid of cells whose occupancies are independently estimated using…

In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where…

We present a generic evidential grid mapping pipeline designed for imaging sensors such as LiDARs and cameras. Our grid-based evidential model contains semantic estimates for cell occupancy and ground separately. We specify the estimation…

Occupancy grids encode for hot spots on a map that is represented by a two dimensional grid of disjoint cells. The problem is to recursively update the probability that each cell in the grid is occupied, based on a sequence of sensor…

Evidential occupancy grid maps (OGMs) are a popular representation of the environment of automated vehicles. Inverse sensor models (ISMs) are used to compute OGMs from sensor data such as lidar point clouds. Geometric ISMs show a limited…

Grid maps are widely used in robotics to represent obstacles in the environment and differentiating dynamic objects from static infrastructure is essential for many practical applications. In this work, we present a methods that uses a deep…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…

Occupancy Grids have been widely used for perception of the environment as they allow to model the obstacles in the scene, as well as free and unknown space. Recently, there has been a growing interest in the unknown space due to the…

Environment modeling in autonomous driving is realized by two fundamental approaches, grid-based and feature-based approach. Both methods interpret the environment differently and show some situation-dependent beneficial realizations. In…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

In this work, we present a novel strategy for correcting imperfections in occupancy grid maps called map decay. The objective of map decay is to correct invalid occupancy probabilities of map cells that are unobservable by sensors. The…

Detecting moving objects in dynamic scenes from sequences of lidar scans is an important task in object tracking, mapping, localization, and navigation. Many works focus on changes detection in previously observed scenes, while a very…