Environment Perception Using Grid Occupancy Estimation With Belief Functions
Jean Dezert, Julien Moras, B. Pannetier · Zenodo (CERN European Organization for Nuclear Research) · 2015
Grid map offers a useful representation of the perceived world for mobile robotics navigation. It will play a major role for the safety (obstacle avoidance) of next generations of terrestrial vehicles, as well as for future autonomous navigation systems. In a grid map, the occupancy state of each cell represents a small piece of information of the surrounding area of the vehicle. The state of each cell must be estimated from sensors measurements and classified in order to get a complete and precise perception of the dynamic environment where the vehicle moves.