相关论文: Dynamic Occupancy Grid Prediction for Urban Autono…
Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…
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…
The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…
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…
One of the most important parts of environment perception is the detection of obstacles in the surrounding of the vehicle. To achieve that, several sensors like radars, LiDARs and cameras are installed in autonomous vehicles. The produced…
A key challenge for autonomous driving is safe trajectory planning in cluttered, urban environments with dynamic obstacles, such as pedestrians, bicyclists, and other vehicles. A reliable prediction of the future environment, including the…
We tackle the problem of object detection and pose estimation in a shared space downtown environment. For perception multiple laser scanners with 360{\deg} coverage were fused in a dynamic occupancy grid map (DOGMa). A single-stage deep…
One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…
We tackle the long-term prediction of scene evolution in a complex downtown scenario for automated driving based on Lidar grid fusion and recurrent neural networks (RNNs). A bird's eye view of the scene, including occupancy and velocity, is…
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…
Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…
This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…
Reliably predicting future occupancy of highly dynamic urban environments is an important precursor for safe autonomous navigation. Common challenges in the prediction include forecasting the relative position of other vehicles, modelling…
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…
Prediction of dynamic environment is crucial to safe navigation of an autonomous vehicle. Urban traffic scenes are particularly challenging to forecast due to complex interactions between various dynamic agents, such as vehicles and…
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…
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…
In the context of autonomous vehicles, one of the most crucial tasks is to estimate the risk of the undertaken action. While navigating in complex urban environments, the Bayesian occupancy grid is one of the most popular types of maps,…
Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…
A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…