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12 Octobre 2014

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27 Octobre 2014

Accueil des participants au JJCR.

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28 Octobre 2014

JJCR 2014

29-30 Octobre 2014

Journées Nationales du GDR Robotique.


An Evidential Sensor Model for Velodyne Scan Grids

For the development of driving assistance systems a nd autonomous vehicles, a reference perception equipment including navigable space dete rmination and obstacles detection is a key issue. The Velodyne sensor which provides high definition and omnidirectional information can be used for this purpose. Neverthel ess, when scanning around the vehicle, uncertainty necessarily arises due to unperceived a reas and noisy measurements. This paper proposes an inverse evidential model for the Velodyne in order to exploit its measurements in a 2D occupancy grid mapping framewo rk. The evidential sensor model interprets the data acquired from the Velodyne and successively maps it to a Carthesian evidential grid using a fusion process based on the least commitment principle to guarantee information integrity. Experimental resul ts prove that this approach can handle efficiently the uncertainties of the sensor and thu s a highly reliable local reference map near the vehicle can be built for every timestamped perception system that needs evaluation or calibration