Credibilist Occupancy Grids for Vehicle Perception in Dynamic Environments
In urban environments, moving obstacles detection and free space determination are key issues for driving assistance systems and autonomous vehicles. When using lidar sensors scanning in front of the vehicle, uncertainty arises from ignorance and errors. Ignorance is due to the perception of new areas and errors come from imprecise pose estimation and noisy measurements. Complexity is also increased when the lidar provides multi-echo and multi-layer information. This paper presents an occupancy grid framework that has been designed to manage these different sources of uncertainty. A way to address this problem is to use grids projected onto the road surface in global and local frames. The global one generates the mapping and the local one is used to deal with moving objects. A credibilist approach is used to model the sensor information and to do a global fusion with the world- fixed map. Outdoor experimental results carried out with a precise positioning system show that such a perception strategy increases significantly the performance compared to a standard approach.
Julien Moras Véronique Cherfaoui Philippe Bonnifait
Université de Technologie de Compiègne,60200 Compiègne,France Contact Heudiasyc,CNRS UMR 6599
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
84-89
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）