In this work, we propose a novel adaptive grid mapping approach, the Adaptive Patched Grid Map, which enables a situational aware grid based perception for autonomous vehicles. Its structure allows a flexible representation of the surrounding unstructured environment. By splitting types of information into separate layers less memory is allocated when data is unevenly or sporadically available. However, layers must be resampled during the fusion process to cope with dynamically changing cell sizes. Therefore, we propose a novel spatial cell fusion approach. Together with the proposed fusion framework, dynamically changing external requirements, such as cell resolution specifications and horizon targets, are considered. For our evaluation, real-world data were recorded from an autonomous vehicle driving through various traffic situations. Based on this, the memory efficiency is compared to other approaches, and fusion execution times are determined. The results confirm the adaptation to requirement changes and a significant memory usage reduction.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Patched Grid Mapping


    Contributors:


    Publication date :

    2023-09-24


    Size :

    945829 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Aspects and applications of patched grid calculations

    WALTERS, ROBERT W. / SWITZER, GEORGE F. / THOMAS, JAMES L. | AIAA | 1991


    Aspects and applications of patched grid calculations

    WALTERS, R. / SWITZER, G. / THOMAS, J. | AIAA | 1986



    Aspects and applications of patched grid calculations

    Walters, Robert W. / Switzer, George F. / Thomas, James L. | NTRS | 1991


    An efficient adaptive patched grid gas dynamic solver for complex flows

    VENKATAPATHY, E. / LOMBARD, C. / PALMER, G. et al. | AIAA | 1986