Abstract
Perceiving or understanding the environment surrounding a vehicle is a very important step in advanced driving assistance systems (ADAS). The task involves both Simultaneous Localization and Mapping (SLAM) and Detection and Tracking of Moving Objects (DATMO). In this context, we have developed a generic architecture based on occupancy grid to solve SLAM and DATMO in dynamic outdoor environments. In this paper, we give an overview of this architecture and results obtained in different European projects: PReVENT-ProFusion2, INTERSAFE-2 and Interactive.
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References
Vu, T.D., Burlet, J., Aycard, O., Grid-based localization and local mapping with moving objects detection and tracking, International Journal on Information Fusion, 2009.
Vu, T.D., Aycard, O., Lased-based detection and tracking moving object using data-driven markov chain monte carlo, IEEE ICRA, 2009.
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Garcia, R., Aycard, O., Vu, T.D., Ahrholdt, M., High level sensor data fusion for automotive applications using occupancy grids, IEEE ICARCV, 2008.
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© 2010 Springer-Verlag Berlin Heidelberg
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Aycard, O., Vu, TD., Baig, Q. (2010). An Occupancy Grid Based Architecture for ADAS. In: Meyer, G., Valldorf, J. (eds) Advanced Microsystems for Automotive Applications 2010. VDI-Buch(). Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16362-3_20
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DOI: https://doi.org/10.1007/978-3-642-16362-3_20
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Online ISBN: 978-3-642-16362-3
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