The detection of dynamic and static obstacles is a key task for the navigation of autonomous ground vehicles. The article presents a new algorithm for generating an occupancy map of the surrounding space from noisy point clouds obtained from one or several stereo cameras. The camera images are segmented by the proposed deep neural network FCN-ResNet-M-OC, which combines the speed of the FCN-ResNet method and improves the quality of the model using the concept of object context representation. The paper investigates supervised approaches to network training on unbalanced samples with road scenes such as the weighted cross entropy and the Focal Loss. The occupancy map is built from point clouds with semantic labels, in which static environment and potentially dynamic obstacles are highlighted. Our solution is operational in real time and applicable on platforms with limited computing resources. The approach was tested on autonomous vehicle datasets: Semantic KITTI, KITTI-360, Mapillary Vistas and custom OpenTaganrog. The usage of semantically labeled point clouds increased the precision of obstacle detection by an average of 17%. The performance of the entire approach on various computing platforms with Jetson Xavier, RTX3070, GPUs NVidia Tesla V100 is respectively from 10 to 15 FPS for input image resolution $1920\times 1080$ pixels.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Occupancy Grid Generation With Dynamic Obstacle Segmentation in Stereo Images


    Contributors:


    Publication date :

    2022-09-01


    Size :

    6236629 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Evidential occupancy grid mapping with stereo-vision

    Yu, Chunlei / Cherfaoui, Veronique / Bonnifait, Philippe | IEEE | 2015


    DYNAMIC AGGREGATED OCCUPANCY GRID GENERATION

    STEFANATOS STELIOS / VASSILOVSKI DAN / PATIL SHAILESH et al. | European Patent Office | 2024

    Free access

    Dynamic aggregate occupancy grid generation

    STEFANATO SERGE / VASSILOVSKI DAN / PATIL SHAILESH et al. | European Patent Office | 2025

    Free access

    Robust occupancy detection from stereo images

    Alefs, B. / Clabian, M. / Bischof, H. et al. | IEEE | 2004


    OCCUPANCY GRID MAP GENERATION DEVICE, OCCUPANCY GRID MAP GENERATION SYSTEM, OCCUPANCY GRID MAP GENERATION METHOD, AND PROGRAM

    FUJIWARA NAOHIRO / DAIMON MAKOTO / TERANI ARIYA et al. | European Patent Office | 2021

    Free access