Two-Stage Static/Dynamic Environment Modeling Using Voxel Representation

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 417)

Abstract

Perception is the process by which an intelligent system translates sensory data into an understanding of the world around it. Perception of dynamic environments is one of the key components for intelligent vehicles to operate in real-world environments. This paper proposes a method for static/dynamic modeling of the environment surrounding a vehicle. The proposed system comprises two main modules: (i) a module which estimates the ground surface using a piecewise surface fitting algorithm, and (ii) a voxel-based static/dynamic model of the vehicle’s surrounding environment using discriminative analysis. The proposed method is evaluated using KITTI dataset. Experimental results demonstrate the applicability of the proposed method.

Keywords

Velodyne perception Motion detection Dynamic environment Piecewise surface Voxel representation 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Electrical and Computer Engineering, Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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