Extended occupation grids for non-rigid moving objects tracking

The authors present an evolution of traditional occupancy grid algorithm, based on an extensive probabilistic calculus of the evolution of several variables on a cell neighbourhood. Occupancy, speed and classification are taken into account, the aim being to improve overall perception of an highly changing unstructured environment. Contrary to classical SLAM algorithms, no requisite is made on the amount of rigidity of the scene, and tracking do not rely on geometrical characteristics. The authors believe that this could have important applications in the automotive field, both from autonomous vehicle and driver assistance, in some areas difficult to address with current algorithms. This article begins with a general presentation of what the authors aim to do, along with considerations over traditional occupancy grids limits and their reasons. The authors will then present their proposition, and detail some of its key aspects, namely update rules and performance consequences. A second part will be more practical, and will begin with a brief presentation of the graphics processing unit (GPU) implementation of the algorithm, before turning to sensor models and some results.

• Record URL:
  https://doi.org/10.1109/ITSC.2011.6083097
• Availability:
  • Find a library where document is available. Order URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6069628
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Lefaudeux, B
  • Gate, G
  • Nashashibi, F
• Conference:
  • 14th International IEEE Conference on Intelligent Transportation Systems (ITSC 2011)
  • Location: Washington DC, United States
  • Date: 2011-10-5 to 2011-10-7
• Publication Date: 2011-10

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1665-1671
• Monograph Title: 14th International IEEE Conference on Intelligent Transportation Systems (ITSC 2011)

Subject/Index Terms

• TRT Terms: Algorithms; Cartographic grids; Detection and identification systems; Traffic speed
• Subject Areas: Data and Information Technology; Highways; I70: Traffic and Transport;

Filing Info

• Accession Number: 01567474
• Record Type: Publication
• ISBN: 9781457721984
• Files: TRIS
• Created Date: Jun 26 2015 1:41PM