ICRA 2011 Paper Abstract


Paper TuA103.4

moras, julien (Heudiasyc UMR 6599 Université de Technologie de Compiègne), Cherfaoui, Véronique (UTC), Bonnifait, Philippe (Univ. of Technology of Compiegne)

Credibilist Occupancy Grids for Vehicle Perception in Dynamic Environments

Scheduled for presentation during the Regular Sessions "Autonomous Navigation I" (TuA103), Tuesday, May 10, 2011, 09:05−09:20, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Sensor Fusion, Mapping, Autonomous Navigation


Abstract-- 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.



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