The accurate classification of moving object in urban traffic scenarios is a key element for safe decision-making of intelligent vehicles. Multi-sensor approaches are typically based on features or specific objects models, which results in either an intrinsic lack of robustness or a significant design complexity. This paper proposes to take advantage of a Bayesian occupancy framework for perception, introducing a classifier combining grid-based footprints and speed estimations. The preliminary results obtained with a Lidar under a very realistic simulation framework are very promising.
Footprint-based classification of road moving objects using occupancy grids
2017 IEEE Intelligent Vehicles Symposium (IV) ; 1052-1057
2017-06-01
1693254 byte
Conference paper
Electronic Resource
English
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