Belief Functions: Theory and Applications pp 343-350 | Cite as
Map-Aided Fusion Using Evidential Grids for Mobile Perception in Urban Environment
Abstract
Evidential grids have been recently used for mobile object perception. The novelty of this article is to propose a perception scheme using prior map knowledge. A geographic map is considered an additional source of information fused with a grid representing sensor data. Yager’s rule is adapted to exploit the Dempster- Shafer conflict information at large. In order to distinguish stationary and mobile objects, a counter is introduced and used as a factor for mass function specialisation. Contextual discounting is used, since we assume that different pieces of information become obsolete at different rates. Tests on real-world data are also presented.
Keywords
Mass Function Fusion Rule Belief Function Mobile Object Occupancy GridPreview
Unable to display preview. Download preview PDF.
References
- 1.Cappelle, C., et al.: Virtual 3D City Model for Navigation in Urban Areas. J. Intell. Robot. Syst. (2011)Google Scholar
- 2.Elfes, A.: Using Occupancy Grids for Mobile Robot Perception and Navigation. Computer 22(6), 46–57 (1989)CrossRefGoogle Scholar
- 3.Mercier, D., Quost, B., Denoeux, T.: Refined modeling of sensor reliability in the belief function framework using contextual discounting. J. Inf. Fusion 9(2), 246–258 (2008)CrossRefGoogle Scholar
- 4.Moras, J., Cherfaoui, V., Bonnifait, P.: Credibilist Occupancy Grids for Vehicle Perception in Dynamic Environments. In: IEEE Int. Conf. Robot. Autom., pp. 84–89 (2011)Google Scholar
- 5.Moras, J., Cherfaoui, V., Bonnifait, P.: Moving Objects Detection by Conflict Analysis in Evidential Grids. In: Int. Veh. Symp., Baden-Baden, Germany, pp. 1120–1125 (2011)Google Scholar
- 6.OpenStreetMap project, http://www.openstreetmap.org (Cited November 9, 2011)
- 7.Pagac, D., Nebot, E.M., Durrant-Whyte, H.: An evidential approach to map-building for autonomous vehicles. IEEE Trans. Robot. Autom. 14(4), 623–629 (1998)CrossRefGoogle Scholar
- 8.Shafer, G.: A Mathematical Theory of Evidence. Princeton University Press (1976)Google Scholar
- 9.Smets, P.: Decision making in the tbm: the necessity of the pignistic transformation. Int. J. Approx. Reason. 38(2), 133–147 (2005)MathSciNetMATHCrossRefGoogle Scholar
- 10.Yager, R.R.: On the Dempster-Shafer framework and new combination rules. Information sciences 4, 93–138 (1987)MathSciNetCrossRefGoogle Scholar