Conditional Monte Carlo Dense Occupancy Tracker

Lukas Rummelhard (1) , Amaury Nègre (1, 2) , Christian Laugier (1)

1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
2 LIG - Laboratoire d'Informatique de Grenoble

Proper modeling of dynamic environments is a core task in the field of intelligent vehicles. The most common approaches involve the modeling of moving objects, through Detection And Tracking of Moving Objects (DATMO) methods. An alternative to a classic object model framework is the occupancy grid filtering domain. Instead of segmenting the scene into objects and track them, the environment is represented as a regular grid of occupancy, in which spatial occupancy is tracked at a sub-object level. In this paper, we present the Conditional Monte Carlo Dense Occupancy Tracker, a generic spatial occupancy tracker, which infers dynamics of the scene through an hybrid representation of the environment, consisting of static occupancy, dynamic occupancy, empty spaces and unknown areas. This differentiation enables the use of state specific models (classic occupancy grid for motion-less components, set of moving particles for dynamic occupancy) as well as proper confidence estimation and management of data-less areas. The approach leads to a compact model that drastically improves the accuracy of the results and the global efficiency in comparison to previous methods.

Mots clés: Perception; Occupancy Grid; Bayesian Approach; Conditional Monte Carlo; Tracking and Motion; Sensor data fusion; Mobile object segmentation

Domaines: Robotique [cs.RO]

Lukas Rummelhard, Amaury Nègre, Christian Laugier. Conditional Monte Carlo Dense Occupancy Tracker. 18th IEEE International Conference on Intelligent Transportation Systems, Sep 2015, Las Palmas, Spain. ⟨hal-01205298⟩