16 research outputs found
Hybrid Sampling Bayesian Occupancy Filter
International audienceModeling and monitoring dynamic environments is a complex task but is crucial in the field of intelligent vehicle. A traditional way of addressing these issues is the modeling of moving objects, through Detection And Tracking of Moving Objects (DATMO) methods. An alternative to a classic object model framework is the occupancy grid filtering domain. Instead of segmenting the scene into objects and track them, the environment is represented as a regular grid of occupancy, in which each cell is tracked at a sub-object level. The Bayesian Occupancy Filter is a generic occupancy grid framework which predicts the spread of spatial occupancy by estimating cell velocity distributions. However its velocity model, corresponding to a transition histogram per cell, leads to huge data management which in practice makes it hardly compatible to severe computational and hardware constraints, like in many embedded systems. In this paper, we present a new representation for the BOF, describing the environment through a mix of static and dynamic occupancy. This differentiation enables the use of a model adapted to the considered nature: static occupancy is described in a classic occupancy grid, while dynamic occupancy is modeled by a set of moving particles. Both static and dynamic parts are jointly generated and evaluated, their distribution over the cells being adjusted. This approach leads to a more compact model and to drastically improve the accuracy of the results, in particular in term of velocities. Experimental results show that the number of values required to model the velocities have been reduced from a typical 900 per cell (for a 30x30 neighborhood) to less than 2 per cell in average. The massive data compression allows to plan dedicated embedded devices
Radar-based Dynamic Occupancy Grid Mapping and Object Detection
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 occupancy grid maps, which maintain the possibility of a low-level data
fusion while also estimating the position and velocity distribution of the
dynamic local environment. This paper presents the further development of a
previous approach. To the best of the author's knowledge, there is no
publication about dynamic occupancy grid mapping with subsequent analysis based
only on radar data. Therefore in this work, the data of multiple radar sensors
are fused, and a grid-based object tracking and mapping method is applied.
Subsequently, the clustering of dynamic areas provides high-level object
information. For comparison, also a lidar-based method is developed. The
approach is evaluated qualitatively and quantitatively with real-world data
from a moving vehicle in urban environments. The evaluation illustrates the
advantages of the radar-based dynamic occupancy grid map, considering different
comparison metrics.Comment: Accepted to be published as part of the 23rd IEEE International
Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece,
September 20-23, 202
Motion Estimation in Occupancy Grid Maps in Stationary Settings Using Recurrent Neural Networks
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 each grid cell contains the occupancy probability and the two dimensional
velocity. As input data, our approach relies on measurement grid maps, which
contain occupancy probabilities, generated with lidar measurements. Given this
configuration, we propose a recurrent neural network architecture to predict a
dynamic occupancy grid map, i.e. filtered occupancy and velocity of each cell,
by using a sequence of measurement grid maps. Our network architecture contains
convolutional long-short term memories in order to sequentially process the
input, makes use of spatial context, and captures motion. In the evaluation, we
quantify improvements in estimating the velocity of braking and turning
vehicles compared to the state-of-the-art. Additionally, we demonstrate that
our approach provides more consistent velocity estimates for dynamic objects,
as well as, less erroneous velocity estimates in static area.Comment: Accepted for presentation at the 2020 International Conference on
Robotics and Automation (ICRA), May 31 - June 4, 2020, Paris, Franc
Dynamic Occupancy Grid Mapping with Recurrent Neural Networks
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 propose to use a recurrent neural network to predict a dynamic
occupancy grid map, which divides the vehicle surrounding in cells, each
containing the occupancy probability and a velocity estimate. During training,
our network is fed with sequences of measurement grid maps, which encode the
lidar measurements of a single time step. Due to the combination of
convolutional and recurrent layers, our approach is capable to use spatial and
temporal information for the robust detection of static and dynamic
environment. In order to apply our approach with measurements from a moving
ego-vehicle, we propose a method for ego-motion compensation that is applicable
in neural network architectures with recurrent layers working on different
resolutions. In our evaluations, we compare our approach with a
state-of-the-art particle-based algorithm on a large publicly available dataset
to demonstrate the improved accuracy of velocity estimates and the more robust
separation of the environment in static and dynamic area. Additionally, we show
that our proposed method for ego-motion compensation leads to comparable
results in scenarios with stationary and with moving ego-vehicle.Comment: Accepted for presentation at the 2021 International Conference on
Robotics and Automation (ICRA), May 30 - June 5, 2021, Xi'an, Chin
Hybrid Sampling Bayesian Occupancy Filter
International audienceModeling and monitoring dynamic environments is a complex task but is crucial in the field of intelligent vehicle. A traditional way of addressing these issues is the modeling of moving objects, through Detection And Tracking of Moving Objects (DATMO) methods. An alternative to a classic object model framework is the occupancy grid filtering domain. Instead of segmenting the scene into objects and track them, the environment is represented as a regular grid of occupancy, in which each cell is tracked at a sub-object level. The Bayesian Occupancy Filter is a generic occupancy grid framework which predicts the spread of spatial occupancy by estimating cell velocity distributions. However its velocity model, corresponding to a transition histogram per cell, leads to huge data management which in practice makes it hardly compatible to severe computational and hardware constraints, like in many embedded systems. In this paper, we present a new representation for the BOF, describing the environment through a mix of static and dynamic occupancy. This differentiation enables the use of a model adapted to the considered nature: static occupancy is described in a classic occupancy grid, while dynamic occupancy is modeled by a set of moving particles. Both static and dynamic parts are jointly generated and evaluated, their distribution over the cells being adjusted. This approach leads to a more compact model and to drastically improve the accuracy of the results, in particular in term of velocities. Experimental results show that the number of values required to model the velocities have been reduced from a typical 900 per cell (for a 30x30 neighborhood) to less than 2 per cell in average. The massive data compression allows to plan dedicated embedded devices