VDI Verlag eLibrary

Grid-Based Object Tracking

Sascha Steyer

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1272 2021

Results in this title

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… temporal accumulation of the fused measurement grids over time, i.e., the occupancy grid mapping. As the …” „… occupancy grid map. This is achieved by a newly proposed combination of a dynamic grid mapping and a …” „… system and the known relative ego movement within it. The original concept of occupancy grid mapping [37 …”

Titelei/Inhaltsverzeichnis S. I-XII

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

Evaluation S. 127-164

„… capable. 6.2 Dynamic Occupancy Grid Estimation In this section, the dynamic grid mapping as proposed in …” „… proposed dynamic grid mapping approach. 138 6.2 Dynamic Occupancy Grid Estimation (a) 0 0.1 0.2 0.3 0.4 0.5 …” „… far, the dynamic grid mapping generally converges toward static or dynamic occupancy over time, even …”

Introduction S. 1-12

„… is occupancy grid mapping [37, 128]. The basic idea here is to spatially discretize the local …” „… concept of occupancy grid mapping toward dynamic environments. Latest approaches of such dynamic occupancy …” „… . The basis of this approach forms a generic low-level occupancy grid representation of the environment …”

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 …”

Bibliography S. 170-186

„… . 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 …” „… . Modeling and Tracking the Driving Environment With a Particle-Based Occupancy Grid. IEEE Trans. Intell …” „… Int. Publishing, Cham, Switzerland, 2016. [37] A. Elfes. Using occupancy grids for mobile robot …”

Conclusion S. 165-168

„… of dynamic occupancy grids, whereas the object-level estimation is performed subsequently based on …” „… represent the main sensors for the generic occupancy/freespace grid derivation and thus also for the object …” „… sensor data fusion, temporal filtering of the dynamic grid mapping, object extraction and association …”

Object Extraction and Association S. 79-100

„… robust occupancy grid mapping with a temporal accumulation of the fused measurement grids in dynamic …” „… ) approach. In addition, the object tracking and the occupancy grid mapping are linked in [20] to improve …” „… 4 Object Extraction and Association The dynamic grid mapping of the previous chapter enables a …”

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 …”

Object State Estimation S. 101-126

„… occupancy and freespace hypotheses. This includes the sensor data fusion and the dynamic grid estimation by …” „… requires a recursive dynamic state estimation of the occupancy grid. As presented in Chapter 3, and …” „… movements. Another strategy based on such dynamic occupancy grids is to avoid a subsequent filtering on the …”

doi.org/10.51202/9783186272089

Partial access

Select for citation download

Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Georg Tanzmeister

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1246 2016

Results in this title

Grid-based Tracking and Mapping S. 10-39

„… , feature-less occupancy grid mapping [52] has evolved to the standard approach in the robotics community. It …” „… In occupancy grid mapping, the world is assumed to be static. It is divided into a set of discretized …” „… standard grid mapping, the occupancy probability of each cell, which corresponds to a certain area in the …”

Conclusion S. 123-126

„… essential component to enable autonomous navigation. Occupancy grid mapping is widely considered as the …” „… occur. Grid-based Tracking and Mapping (GTAM), a novel method that simultaneously estimates the static …” „… Bayesian occupancy grid. An obvious way to remove moving objects and their artifacts in occupancy grids is …”

Bibliography S. 137-154

„… . 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 …” „… . Brooker, and E. Nebot, “Sensor modelling for radar-based occupancy mapping,” in Proc. of the IEEE/RSJ …”

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

„… grid structures similar to images, such as in occupancy grids. One slice of the configuration space …” „… ) Occupancy grid (b) Bin. dilation (c) Bin. conv. (d) Graysc. dilation (e) Graysc. conv. Figure 4.1 …” „… convolution (e) of an occupancy grid (a) with a verticallyoriented rectangular mask. Shown are: a small …”

Evaluation S. 102-122

„… Chapter 4. Here, it is focused on an evaluation of the grid-based tracking and mapping and the road course …” „… of this work. 6.1 Evaluation of the Grid-based Tracking and Mapping In this section GTAM, presented …” „… | |Xdel|+ |Xsurv| , (6.1) 102 6.1 Evaluation of the Grid-based Tracking and Mapping Uniform + static …”

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 …” „… ., stixels [17], grid-based representations have already been, and still are, popular for mapping for a …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… overcomes the drawback of widely-used occupancy grid mapping, which is only defined for static environments …” „… , ¤ 62,00/VDI-Mitgliederpreis ¤ 55,80. Keywords: Autonomous Vehicles – Environment Model – Grids – Mapping …” „… Evaluation 102 6.1 Evaluation of the Grid-based Tracking and Mapping . . . . . . . . . . . . . 102 6.1.1 …”

doi.org/10.51202/9783186246080

Partial access

Select for citation download

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

Matthias Schreiner

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 797 2016

Results in this title

Grid Mapping in Dynamic Environments S. 67-102

„… fundamental problems in mobile robotics. Especially occupancy grid mapping is a widespread method for building …” „… middle of the map. The darker a grid cell, the higher its occupancy probability. Undesirable mapping …” „… problem is presented, an overview of related work on occupancy grid mapping in dynamic environments is …”

Summary and Outlook S. 207-211

„… well as the two related filter applications occupancy grid mapping and target tracking. In this context …” „… evaluation revealed superior performance compared to traditional occupancy grid mapping filters that are used …” „… occupancy grid mapping and PFS mapping as a foundation, the Bayesian network-based maneuver estimation, the …”

Bibliography S. 221-254

„… . Bouzouraa and U. Hofmann. Fusion of Occupancy Grid Mapping and Model Based Object Tracking for Driver …” „… Computation Using Stochastic Occupancy Grids and Dynamic Programming. In Workshop on Dynamical Vision ICCV …” „… Tracking the Driving Environment with a Particle-Based Occupancy Grid. IEEE Transactions on Intelligent …”

Parametric Free Space Maps S. 103-131

„… . Another aspect is the loss of information about specific cell occupancy probabilities. As grid mapping …” „… maps are robustly extracted from the optimized occupancy grid described in the previous chapter, an …” „… contrast, methods of the second category, which rely on an occupancy grid map-based representation, can …”

Environment Representations for ADAS S. 6-17

„… these issues. Due to its widespread usage, it directly builds upon a conventional grid mapping algorithm …” „… interpretation algorithms such as automatic junction or roundabout detections. 2D occupancy grid maps (Fig. 2.1c …” „… ]. Occupancy grid maps do not have to cope with the correspondence problem, can be constructed with limited …”

Titelei/Inhaltsverzeichnis S. I-XXII

„… Occupancy Grid Mapping . . . . . . . . . . . . . . . . . . . 61 3.3.1 Traditional Mapping Solution …” „… – Occupancy Grid Map – Parametric Free Space Map – Target Tracking – Trajectory Prediction This work deals …” „… , drivable free space while suppressing irrelevant details of common occupancy grids. They are obtained by …”

Introduction S. 1-5

„… ]. • Novel method for grid mapping and tracking in dynamic road environments [225,226]. – Novel grid …” „… 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 …”

Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… environment representation: target tracking and occupancy grid mapping – both presented subsequently. 3.1 …” „… for occupancy grid mapping algorithms in which each cell can only be either free or occupied, and is …” „… applications target tracking and occupancy grid mapping are presented in the following, which both play a major …”

Publications and Supervisions S. 217-220

„… in Occupancy Grid Maps by Methods of Image Analysis and Dynamic B-Spline Contour Tracking. In Proc …” „… , pages 334–341, Qingdao, China, Oct. 2014. • M. Schreier, V. Willert, and J. Adamy. Grid Mapping in …” „… eines Bewertungsalgorithmus für Kompressionsverfahren von Occupancy Grids auf hochparallelen …”

Prediction and Criticality Assessment S. 132-191

„… extensions include the full replication of the environment representation (including occupancy grid mapping …” „… underlying Bayesian theory as the preceding mapping and tracking algorithms. Relevant background on modeling …” „… in which the occupancy sets of the specific vehicle configurations overlap, i.e. a predicted …”

doi.org/10.51202/9783186797124

Partial access

Select for citation download

Fahrerassistenz und Integrierte Sicherheit 2016

VDI Wissensforum GmbH (ed.)

Series: VDI-Berichte

Volume 2288 2016

Results in this title

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 …” „… approaches were tested on a dataset containing about 700 local occupancy grids per class for training and …” „… step towards classification of high-level information from occupancy grids and will extend the approach …”

doi.org/10.51202/9783181022887

Partial access

Select for citation download

ELIV 2017

VDI Wissensforum GmbH (ed.)

Series: VDI-Berichte

Volume 2299 2017

Results in this title

U. Muller, L. D. Jackel, J. Langenwalter Teaching a car to drive – Automating the extraction of domain knowledge by observing human drivers /Teaching a car to drive – Automating the extraction of domain knowledge by observing human drivers S. 13-14

„… occupancy grid 5. plan a path 6. issue motor commands This approach assumes we know which objects we need …” „… and hardware, DNN networks (e.g. object and lane detection), HD mapping integration, localization …” „… modular system includes components that perform mapping, localization, path planning, and obstacle …”

doi.org/10.51202/9783181022993

Partial access

Select for citation download

LAND.TECHNIK AgEng 2023

VDI Wissensforum GmbH (ed.)

Series: VDI-Berichte

Volume 2427 2023

Results in this title

T. Schütte, K. Koch, V. Dworak, C. Weltzien LiDAR Assisted Semi-automatic Mapping and Path Planning Approach for Autonomous Mobile Robots in Vineyards and Orchards S. 199-208

„… cell-by-cell analysed to form a 2D occupancy grid map. After this, kernel convolution and cross-correlation are …” „… integration 2. compare the generated grid maps to manually labelled orthoimages to assess the grid mapping …” „… LiDAR Assisted Semi-automatic Mapping and Path Planning Approach for Autonomous Mobile Robots in …”

doi.org/10.51202/9783181024270

No access

Select for citation download

Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Michael Aeberhard

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 804 2017

Results in this title

References S. 172-202

„… the Driving Environment With a Particle-Based Occupancy Grid,” IEEE Transactions on Intelligent …” „… ., Cherfaoui, V., and Bonnifait, P., “Credibilist Occupancy Grids for Vehicle Perception in Dynamic …” „… ., “Stereo-Camera-Based Urban Environment Perception Using Occupancy Grid and Object Tracking,” IEEE Transactions on …”

State and Covariance S. 64-92

„… the dimensions of an object are based on the methods of occupancy grid mapping [287]. For each …” „… of occupancy grid mapping, it is assumed that each element in the map is independent of the others …” „… segmentation and clustering, such as occupancy grids [12, 68] or a simplified polar representation such as …”

doi.org/10.51202/9783186804129

Partial access

Select for citation download

An Integrated Approach for Traffic Scene Understanding from Monocular Cameras

Malte Oeljeklaus

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 815 2021

Results in this title

„… grid-based occupancy map for further use in subsequent driving functions. Moreover, a full semantic …” „… occupied areas is sufficient for the generation of occupancy grids. Therefore, in the automotive context …” „… × 1 convolutions, and [SZ15], 2The model capacity controls the scope of the types of mapping functions …”

Bibliography S. 115-142

„… . Engel, S. Hoermann, P. Henzler, and K. Dietmayer. “Deep Object Tracking on Dynamic Occupancy Grid Maps …” „… , and M. Manz. “Towards Road Type Classification with Occupancy Grids”. In: Deep Driving-Learning …” „… Conference on Computer Vision. IEEE. Santiago, Chile, 2015, pp. 2650–2658. [Elf89] A. Elfes. “Using Occupancy …”

doi.org/10.51202/9783186815125

Partial access

Select for citation download

LAND.TECHNIK 2016

VDI Wissensforum GmbH (ed.)

Series: VDI-Berichte

Volume 2273 2016

Results in this title

T. Korthals, T. Krause, A. Skiba Einsatz Event-Basierter Systemarchitektur für Erntemaschinen zur Elektronischen Umfelderkennung S. 167-172

„… Obstacle Detection and Evaluation of Occupancy Grid Mapping in Agriculture, International Conference on …”

doi.org/10.51202/9783181022733

Partial access

Select for citation download

Navigationssystem für holonome Fahrerlose Transportfahrzeuge mit multikriterieller Optimierung

Frank Künemund

Series: Informatik/ Kommunikation

Volume 858 2017

Results in this title

Anhang S. 179-197

„… occupancy grids for map building. In: Autonomous Robots 4 (1997), Nr. 4, S. 351 367 [51] Kruse, E …” „… occupancy grids with forward models. In: Proceedings of the IEEE/RSJ International Conference on Intelligent …” „… . M. ; Bennewitz, M. ; Stachniss, C. ; Burgard, W.: OctoMap: An E cient Probabilistic 3D Mapping …”

doi.org/10.51202/9783186858108

Partial access

Select for citation download

Automation 2021

VDI Wissensforum GmbH (ed.)

Series: VDI-Berichte

Volume 2392 2021

Results in this title

T. Zeun, A. Frotzscher, A. Nicklas, E. Schmitt, D. Schulze-Zipper, H. Zipper Selbstorganisation und Co-Management verteilter Automatisierungssysteme mit dem Kommunikationssystem S. 751-762

„… three-dimensional grid systems [2] or transport mobile shelves to the workplaces of logistics employees …” „… research is conducted towards the mapping of requirements of industrial control application to distributed …” „… parameters and control deviation/tracking error as well as several occupancy parameters as …”

doi.org/10.51202/9783181023921

Partial access

Select for citation download

ELIV-MarketPlace 2022

VDI Wissensforum GmbH (ed.)

Series: VDI-Berichte

Volume 2405 2022

doi.org/10.51202/9783181024058

No access

Select for citation download

PLEA 2013 Munich: Sustainable Architecture for a Renewable Future.

Werner Lang (ed.)

2013

Results in this title

Session I.2 Regions, Cities, Neighborhoods: Energy S. 63-98

„… each type of allocation. The impacts for an individual vehicle vary depending on the occupancy rate of …” „… the General Allocation Plan (GAP) of the city of Lausanne). Table 4 : Surface occupancy: average …” „… the role of land occupancy. The energy per surface area unit can be reduced by increasing the …”

Session III.4 Buildings: Daylight S. 510-547

„… , ventilation, occupancy, and operational information will be required, based on building type, as well as …” „… strong effects on occupants’ productivity and health. Post occupancy evaluation (POE) and associated …” „… savings while meeting or exceeding IEQ standards. Current practice of mapping measured data with existing …”

Session III.1 Buildings: Certification Systems S. 417-447

„… landscape, and reflect the occupancy patterns and qualitative experiences of two live-in subjects. Finally …” „… , the paper presents analysis of the preliminary performance and occupancy data in order to speculate …” „… have required. Keywords: Certifications; Residential; LEED; Living Building Challenge; Post-occupancy …”

Poster Session V.4 Regions, Cities, Neighborhoods: Case Studies S. 873-908

„… ). Standard 55: Thermal environmental conditions for human occupancy, ed. Atlanta, USA: American Society of …” „… cases lack of connection to the national grid due to isolated locations. This paper presents a review …” „… of the current tourism accommodation available in the micro-region, including post occupancy …”

Session II.5 Buildings: Climate Responsive Architecture S. 350-379

„… interdepartmental exchange. The 11.5-metre-deep, column- and grid-free interior creates an open, loft space with …” „… energy use by improving the functionality of occupancy sensors. Integrating a ventilation mode icon …” „… . Through topographic mapping we determined the exact location of all 94 mature trees and with the local …”

Session I.1 Regions, Cities, Neighborhoods: Planning Process S. 32-62

„… , bio-energy and solar. It has 1200km of coastline, deep-sea ports and accessible grid infrastructure, which …” „… distributed PV, heat pumps, future electric vehicle charging, placing a huge demand on the grid and the …” „… (heat being gas, oil, biomass, etc). There are emerging issues with electricity grids, the increase in …”

Poster Session VI.5 Buildings: Knowledge Transfer and Governance S. 1110-1143

„… , institutional, macrosocial/economic and technical factors [3,14]. The PROBE (Post-Occupancy Review of Buildings …” „… conflict between the desire to carry out post occupancy evaluation for the marketing opportunity and …” „… post-occupancy evaluation routine 2: Soft landings – involving design and building teams in improving …”

Session I.4 Regions, Cities, Neighborhoods: Outdoor Thermal Comfort 2 S. 130-159

„… surface and provides a spatial mapping of surface temperature (Ts) according to defined emissivity …” „… calculation. Calculations were performed for a 9m x 9m x 9m grid net over the model and the microclimatic …”

doi.org/10.51202/9783816790549

Partial access

Select for citation download