Title :
Credibilist occupancy grids for vehicle perception in dynamic environments
Author :
Moras, Julien ; Cherfaoui, Véronique ; Bonnifait, Philippe
Author_Institution :
Heudiasyc, Univ. de Technol. de Compiegne, Compiegne, France
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.
Keywords :
driver information systems; mobile robots; object detection; pose estimation; position control; road vehicles; sensor fusion; autonomous vehicles; credibilist occupancy grids; driving assistance systems; dynamic environments; free space determination; lidar sensor scanning; moving obstacle detection; multiecho information; multilayer information; pose estimation; sensor fusion; vehicle perception; world-fixed map; Laser radar; Measurement by laser beam; Mobile communication; Navigation; Object detection; Sensors; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980298