In this paper, a generic approach for three-dimensional environment representation is presented. Scans from range finders are accumulated into a three-dimensional occupancy grid. A probabilistic measurement model is used to represent measurement uncertainties. Free regions are modelled as well and contribute to a precise representation of the environment. In order to acquire a feasible three-dimensional grid, a hierarchical data structure is proposed. As a positive result, the level of detail and respectively the grid resolution is controllable by the application or by the content. As an example application, it will be shown how height information can be derived from a sensor with one horizontal scan plane only.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Dynamic level of detail 3D occupancy grids for automotive use




    Publication date :

    2010-06-01


    Size :

    2191265 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Dynamic Level of Detail 3D Occupancy Grids for Automotive Use, pp. 269-274

    Schmid, M.R. / Maehlisch, M. / Dickmann, J. et al. | British Library Conference Proceedings | 2010


    Object-Level Semantic and Velocity Feedback for Dynamic Occupancy Grids

    Jimenez, Victor / Godoy, Jorge / Artunedo, Antonio et al. | IEEE | 2023


    An automotive perception system using distance cameras and polar occupancy grids

    Mattern, Norman / Schubert, Robin / Adam, Christian et al. | Tema Archive | 2009


    Parking Space Detection with Hierarchical Dynamic Occupancy Grids

    Schmid, M.R. / Ates, S. / Dickmann, J. et al. | British Library Conference Proceedings | 2011


    Object-based Velocity Feedback for Dynamic Occupancy Grids

    Jimenez, Victor / Godoy, Jorge / Artunedo, Antonio et al. | IEEE | 2022