NDLI: Fusion of occupancy grid mapping and model based object tracking for driver assistance systems using laser and radar sensors

Content Provider	IEEE Xplore Digital Library
Author	Bouzouraa, M.E. Hofmann, U.
Copyright Year	2010
Description	Author affiliation: Advanced Development Driver Assistance Systems, AUDI AG, Germany (Bouzouraa, M.E.; Hofmann, U.)
Abstract	in this paper we present a novel environment perception system based on an occupancy grid mapping and a multi-object tracking. The goal of such a system is to create a harmonic, consistent and complete representation of the vehicle environment as a base for future advanced driver assistance systems. In addition to a mathematical formulation of the problem we present a robust algorithm to detect dynamic obstacles from the occupancy map and show how both, the mapping process and the tracking can benefit from each other. Therefore, the concept of moving objects with associated dynamic cells is introduced. The presented techniques are applicable to both 2D and 3D mapping and can be also extended to correct the ego motion from the occupancy map and the object tracks. Unlike many publications over the last years our work provides real time performance and an accurate detection of obstacles with real laser and radar sensors and can fulfill the requirements of future driver assistance systems.
Starting Page	294
Ending Page	300
File Size	1410441
Page Count	7
File Format	PDF
ISBN	9781424478668
ISSN	19310587
e-ISBN	9781424478682
DOI	10.1109/IVS.2010.5548106
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-21
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radar tracking Laser radar Laser fusion Laser modes Sensor fusion Sensor systems Vehicle dynamics Vehicle driving Robustness Heuristic algorithms
Content Type	Text
Resource Type	Article

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