Estimating Object Shape and Movement Using Local Occupancy Grid Maps

被引：1
|
作者：
Quehl, Jannik [1 ]
Yan, Shengchao [1 ]
Wirges, Sascha [2 ]
Pauls, Jan-Hendrik [1 ]
Lauer, Martin [1 ]
机构：
[1] Karlsruhe Inst Technol, Inst Measurement & Control Syst, Karlsruhe, Germany
[2] FZI Res Ctr Informat Technol, Mobile Percept Syst Grp, Karlsruhe, Germany
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 08期
关键词：
LiDAR; Motion Estimation; Scan Matching; Shape estimation; SLAM;
D O I：
10.1016/j.ifacol.2019.08.053
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Estimating motion and shape of surrounding objects reliably and accurately is a fundamental challenge in the study of interactions between cooperative traffic participants. This paper proposes a new approach that utilizes free space information obtained from a LiDAR sensor and object local grid maps in order to simultaneously estimate the shape and movement state of objects with arbitrary shape. We evaluated our approach in several simulated scenarios and found that the movement and shape estimation results are very close to the ground truth. Finally, we did a qualitative evaluation on real data extracted from the KITTI benchmark. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：87 / 92
页数：6
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