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Map-aided Fusion Using Evidential Grids for Mobile Perception in Urban Environment
- Source :
- The 2nd International Conference on Belief Functions, Compi\`egne : France (2012)
- Publication Year :
- 2012
-
Abstract
- Evidential grids have been recently used for mobile object perception. The novelty of this article is to propose a perception scheme using prior map knowledge. A geographic map is considered an additional source of information fused with a grid representing sensor data. Yager's rule is adapted to exploit the Dempster-Shafer conflict information at large. In order to distinguish stationary and mobile objects, a counter is introduced and used as a factor for mass function specialisation. Contextual discounting is used, since we assume that different pieces of information become obsolete at different rates. Tests on real-world data are also presented.
- Subjects :
- Computer Science - Robotics
Computer Science - Artificial Intelligence
Subjects
Details
- Database :
- arXiv
- Journal :
- The 2nd International Conference on Belief Functions, Compi\`egne : France (2012)
- Publication Type :
- Report
- Accession number :
- edsarx.1207.1016
- Document Type :
- Working Paper