Evaluation method and results for the accuracy of an automotive occupancy grid

This paper presents an evaluation method for the accuracy of automotive occupancy grids and results for the influence of the discretization and pose estimation of a radar based grid mapping algorithm. An automotive centric review of evaluation methods and map quality measures developed for robotic applications is given. Based on the results of the review, an extensible toolset to create ground truth maps and to compare them against automotive grid maps using different map quality measurements is proposed. Several map quality measures are compared and the best performing method to evaluate the accuracy of a radar based occupancy grid mapping algorithm is chosen.