Managing Localization Uncertainty to Handle Semantic Lane Information from Geo-Referenced Maps in Evidential Occupancy Grids.

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ID: 96730
2020
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Abstract
Occupancy grid is a popular environment model that is widely applied for autonomous navigation of mobile robots. This model encodes obstacle information into the grid cells as a reference of the space state. However, when navigating on roads, the planning module of an autonomous vehicle needs to have semantic understanding of the scene, especially concerning the accessibility of the driving space. This paper presents a grid-based evidential approach for modeling semantic road space by taking advantage of a prior map that contains lane-level information. Road rules are encoded in the grid for semantic understanding. Our approach focuses on dealing with the localization uncertainty, which is a key issue, while parsing information from the prior map. Readings from an exteroceptive sensor are as well integrated in the grid to provide real-time obstacle information. All the information is managed in an evidential framework based on Dempster-Shafer theory. Real road results are reported with qualitative evaluation and quantitative analysis of the constructed grids to show the performance and the behavior of the method for real-time application.
Reference Key
yu2020managingsensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Yu, Chunlei;Cherfaoui, Veronique;Bonnifait, Philippe;Yang, Dian-Ge;
Journal sensors
Year 2020
DOI
E352
URL
Keywords
semantic uncertainty evidential occupancy grid lane grid prior map

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