In this paper, the commonly used filtering technique occupancy grid mapping for static environments is extended for dynamic environments. The proposed method is able to estimate velocities indirectly. We apply a distribution model of the respective state variable to estimate the cell dynamics by means of prediction and update cycle, as known by standard tracking filters. Therefore, we present a straight forward derivation of the prediction and update rule. Furthermore, we validate our approach by simple one dimensional simulations, and show how it can be extended into a two dimensional world, including the resulting consequences, e.g. in terms of memory requirements.
Extending occupancy grid mapping for dynamic environments
2018-06-01
756792 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Bayesian Occupancy Grid Filter for Dynamic Environments Using Prior Map Knowledge
British Library Conference Proceedings | 2009
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