Occupancy grid for static environment perception in series automotive applications
Jakub Porębski, Krzysztof Kogut, Paweł Markiewicz, Paweł Skruch · IFAC-PapersOnLine · 2019
This paper presents a comprehensive review of state-of-the-art occupancy grid mapping approaches for highway and urban automotive applications. The primary objective is to identify most suitable algorithm candidates for series applications. The occupancy grid functional performance requirements for automotive are given. A new high level grid fusion architecture is introduced. The innovative element is a second stage filtering step allowing better performance in case of highly uncertain inputs. An application of the architectures to an example sensor suite is proposed.