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Sascha Steyer - Grid-Based Object Tracking

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Sascha Steyer

Grid-Based Object Tracking

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1272 2021

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Dynamic Grid Mapping and Particle Tracking S. 39-78

„… occupancy grid map. This is achieved by a newly proposed combination of a dynamic grid mapping and a …” „… grid map and thereby initialize and predict its dynamic occupancy evidence masses. Static occupancy, in …” „… occupancy grid map accumulation and that short-term particle-based dynamic estimation still remains a …”

Evaluation S. 127-164

„… proposed evidential dynamic grid map of this work is shown in Fig. 6.6b. Static and dynamic occupancy are …” „… as static occupancy, since it is accumulated and temporally filtered in the grid map representation …” „… Dynamic Occupancy Grid Estimation (a) Dynamic grid map with additional information of radar, camera, and …”

Titelei/Inhaltsverzeichnis S. I-XII

„… representation Map Accumulated dynamic grid map Mt of the occupancy grid mapping Particle Individual particle …” „… – Occupancy Grid Mapping – Sensordatenassoziation – Sensordatenfusion – Umfelderfassung …” „… – Moving Object Detection – Object State Estimation – Object Tracking – Occupancy Grid Mapping – Sensor …”

Introduction S. 1-12

„… persistent occupancy grid map accumulation and the short-term particle-based dynamic estimation, but also in …” „… all consistently estimated based on the common low-level occupancy grid map representation. No …” „… measurement data. (b) Fused 2-D measurement occupancy grid. (c) Temporally accumulated dynamic grid map. (d …”

Conclusion S. 165-168

„… occupancy of the grid map is thereby directly coupled with the particle tracking, overall resulting in a …” „… significantly reduced due to the persistent static occupancy accumulation of the grid map, as opposed to a …” „… of dynamic occupancy grids, whereas the object-level estimation is performed subsequently based on …”

Object Extraction and Association S. 79-100

„… grid mapMt, since only cells with currently measured occupancy are considered to avoid multi-filtering …” „… the dynamic grid map and the particle-based cell velocity estimation. Based on that enhanced occupancy …” „… more accurately and efficiently by the occupancy grid map accumulation using the same grid …”

Bibliography S. 170-186

„… . Dietmayer. Offline Object Extraction from Dynamic Occupancy Grid Map Sequences. In Proc. IEEE Intell. Veh …” „… . https://www.reuters.com/article/us-usawalmart-robots/wal-marts-new-robots-scan-shelves-to-restock-itemsfaster-idUSKBN1CV1N4. [20] M. Bouzouraa and U. Hofmann. Fusion of Occupancy Grid Mapping and Model Based Object …” „… . Dietmayer. Deep Object Tracking on Dynamic Occupancy Grid Maps Using RNNs. In Proc. IEEE Intell. Transp …”

Measurement Grid Representation and Fusion S. 13-38

„… Chapter 3. 2.1.1 Related Work The original idea of occupancy grid mapping was proposed by Elfes [37] in …” „… , that occupancy grid mapping concept is widely used in various applications, often still using similar …” „… approximations and assumptions. A detailed overview of occupancy grid mapping and various extensions is given in …”

Object State Estimation S. 101-126

„… local grid map [12, 108], enabling a detailed free-form shape estimation by accumulating occupancy …” „… occupancy and freespace hypotheses. This includes the sensor data fusion and the dynamic grid estimation by …” „… dynamic by determining free/occupied inconsistencies with the temporally accumulated grid map, which are …”

Own Publications S. 169

„… Evidential Dynamic Occupancy Grids in Urban Environments. In Proc. IEEE Intell. Veh. Symp., pages 1064–1070 …” „… in grid-based tracking and mapping. In Proc. IEEE Int. Conf. Multisensor Fusion and Integration for …” „… Own Publications [1] S. Steyer, C. Lenk, D. Kellner, G. Tanzmeister, and D. Wollherr. Grid …”

doi.org/10.51202/9783186272089

Georg Tanzmeister - Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

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Georg Tanzmeister

Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1246 2016

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Grid-based Tracking and Mapping S. 10-39

„… instances t. Similar to occupancy grid mapping, the goal is estimate the posterior over all maps p(νt | z1:t …” „… ) Particle map. (b) DST map. (c) Bayes map from DST map. (d) Standard occupancy grid. (e) Camera image. (f …” „… ) Particle map. (g) DST map. (h) Bayes map from DST map. (i) Standard occupancy grid. (j) Camera image …”

Configuration Space Costs: Cost Evaluation on Workspace Cost Maps S. 64-86

„… of the ego vehicle, of a cost map that comes from thresholding an occupancy grid (a), and calculating …” „… occupancy grid cost maps, it is sometimes desired to distinguish cells with the value 0.5, as it represents …” „… algorithm was evaluated on cost maps from occupancy grids recorded in two different scenarios: a parking lot …”

Conclusion S. 123-126

„… essential component to enable autonomous navigation. Occupancy grid mapping is widely considered as the …” „… Bayesian occupancy grid. An obvious way to remove moving objects and their artifacts in occupancy grids is …” „… into the sensor data or into an occupancy grid, the presented method works indirectly over motion …”

Road Course and Road Boundary Estimation S. 87-101

„… precalculated. A cost map is derived from the static occupancy grid and used as input for the calculation of …” „… Ccosts. Depending on the scenario, the static occupancy grid is either used directly as cost map, or a …” „… multiple locations throughout this thesis and discussed in detail in Chapter 2, are occupancy grids. In …”

Bibliography S. 137-154

„… occupancy grid filter for dynamic environments using prior map knowledge,” in Proc. of the IEEE Intelligent …” „… . Bouzouraa and U. Hofmann, “Fusion of occupancy grid mapping and model based object tracking for driver …” „… efficient grid-based occupancy filtering in dynamic environments,” in Proc. of the IEEE International …”

Evaluation S. 102-122

„… occupancy grid map, there will always be a certain delay in which the dynamic objects will produce artifacts …” „… static map. (d) Static map from GTAM. (e) Standard occupancy grid. Figure 6.14: The road course …” „… thus also the Bayesian occupancy grid do not have this issue. 110 6.1 Evaluation of the Grid …”

Introduction S. 1-9

„… performed separately using occupancy grid mapping [52, 157] for the static part, which does not require …” „… uses the Bayesian occupancy grid of the static environment from the grid-based tracking and mapping …” „… coupled with localization with landmarks that are also stored. Sometimes, whole scans or grid maps are …”

Detection of Principal Moving Directions S. 40-63

„… ) )T else (3.3) where r = la/ tanα, β = d/la tanα. (3.4) Note that the map grid coordinate system (MGCS …” „… approach proposed in Section 3.3. An occupancy grid is dilated by a circle of vehicle width, blobs are …” „… occupancy grid dilated by a circle with diameter equal to the vehicle width. red and the pink cluster are …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… View GTAM Grid-based Tracking And Mapping MGCS Map Grid Coordinate System PMap Particle Map RCE Road …” „… overcomes the drawback of widely-used occupancy grid mapping, which is only defined for static environments …” „… Dempster–Shafer theory mp map grid representing belief masses from particle map msi scan grid representing belief …”

doi.org/10.51202/9783186246080

Matthias Schreiner - Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

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Matthias Schreiner

Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 797 2016

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Grid Mapping in Dynamic Environments S. 67-102

„… middle of the map. The darker a grid cell, the higher its occupancy probability. Undesirable mapping …” „… corresponding occupancy grid map (b) is filtered with an individual BBF – the red ego vehicle is shown in the …” „… eliminated. considered an additional advantage. The consistency between optimized occupancy grid map and …”

Parametric Free Space Maps S. 103-131

„… contrast, methods of the second category, which rely on an occupancy grid map-based representation, can …” „… approach because both maps are extracted from the same data base, i.e. a common occupancy grid map. The …” „… ). The input of the detection step is the optimized occupancy grid map mopt,k such 5Although road models …”

Environment Representations for ADAS S. 6-17

„… occupancy grid map-based representations as described in [40]. 2.2 Related Work 11 ments [92] in their …” „… have a 3D occupancy grid map as a result [108, 175, 213], and ii) methods that just employ a voxel grid …” „… interpretation algorithms such as automatic junction or roundabout detections. 2D occupancy grid maps (Fig. 2.1c …”

Summary and Outlook S. 207-211

„… well as the two related filter applications occupancy grid mapping and target tracking. In this context …” „… chapters have been devoted to this generation process. Due to the widespread usage of grid map-based …” „… evaluation revealed superior performance compared to traditional occupancy grid mapping filters that are used …”

Titelei/Inhaltsverzeichnis S. I-XXII

„… – Occupancy Grid Map – Parametric Free Space Map – Target Tracking – Trajectory Prediction This work deals …” „… probability for grid segmentation m Conventional occupancy grid map mopt Optimized occupancy grid map n State …” „… Occupancy Grid Mapping . . . . . . . . . . . . . . . . . . . 61 3.3.1 Traditional Mapping Solution …”

Bibliography S. 221-254

„… . Bouzouraa and U. Hofmann. Fusion of Occupancy Grid Mapping and Model Based Object Tracking for Driver …” „… Stochastic Occupancy Grids Based on Iconic Kalman Filtered Disparity Maps. In Proc. of the International …” „… . Kurdej, J. Moras, V. Cherfaoui, and P. Bonnifait. Map-Aided Evidential Grids for Driving Scene …”

Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… nodes shaded in gray. In occupancy grid mapping (a), the sole hidden state is the map m. The ego vehicle …” „… simultaneously with the map. From a Bayesian point of view, the problem addressed by occupancy grid mapping is …” „… model to the log odds ratio of the posterior cell occupancy of the grid map of the last time step lk−1 …”

Introduction S. 1-5

„… occupancy grid maps. – Novel B-spline contour tracking of arbitrary free space shapes. • Novel method for …” „… with a focus on the employed filters and their applications in target tracking and occupancy grid …” „… , which results in a dynamic object map and an optimized grid map that only contains static environment …”

Prediction and Criticality Assessment S. 132-191

„… extensions include the full replication of the environment representation (including occupancy grid mapping …” „… ), map-based [82] (c). Images taken from the mentioned sources. Besides the problem of generating, saving, and …” „… used, together with a PFS map-based representation of the static environment with pdf p(xPFS,k), to …”

Publications and Supervisions S. 217-220

„… in Occupancy Grid Maps by Methods of Image Analysis and Dynamic B-Spline Contour Tracking. In Proc …” „… eines Bewertungsalgorithmus für Kompressionsverfahren von Occupancy Grids auf hochparallelen …” „… , AK, USA, Sept. 2012. • M. Schreier, V. Willert, and J. Adamy. From Grid Maps to Parametric Free Space …”

doi.org/10.51202/9783186797124

VDI Wissensforum GmbH - ELIV-MarketPlace 2022

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VDI Wissensforum GmbH (ed.)

ELIV-MarketPlace 2022

Series: VDI-Berichte

Volume 2405 2022

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E. Richter Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions S. 37-58

„… well-established algorithms like Kalman filtering and static occupancy grids. While this approach has advantages …” „… estimation of the Static Occupancy Grid (right) VDI-Berichte Nr. 2405, 202238Dynamic GridNext-Gen Sensor …” „… static occupancy grid fusion• Well suited for large distances to dynamic objects• Well suited for highly …”

doi.org/10.51202/9783181024058

VDI Wissensforum GmbH - Fahrerassistenz und Integrierte Sicherheit 2016

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VDI Wissensforum GmbH (ed.)

Fahrerassistenz und Integrierte Sicherheit 2016

Series: VDI-Berichte

Volume 2288 2016

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A. Mueller, C. Seeger, L. Schwarz, M. Manz Tiefe neuronale Netze für die Szeneninterpretation anhand von Belegungskarten S. 219-230

„… grid mapping gains more and more popularity. In this work, local occupancy grids are used in the …” „… semi-automatic labeling of occupancy grid maps, International Conference on Neural Information Processing. 2014 …” „… approaches were tested on a dataset containing about 700 local occupancy grids per class for training and …”

doi.org/10.51202/9783181022887

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