{"id":936,"date":"2018-09-04T15:08:07","date_gmt":"2018-09-04T14:08:07","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=936"},"modified":"2018-09-04T15:08:07","modified_gmt":"2018-09-04T14:08:07","slug":"a-probabilistically-rigurous-formulation-of-the-estimation-of-grid-maps-in-dynamic-scenarios-and-a-nice-review-and-state-of-the-art-of-grid-maps-both-for-static-and-dynamic-scenarios","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=936","title":{"rendered":"A probabilistically rigurous formulation of the estimation of grid maps in dynamic scenarios, and a nice review and state-of-the-art of grid maps, both for static and dynamic scenarios"},"content":{"rendered":"<h4>Dominik Nuss, Stephan Reuter, Markus Thom, Ting Yuan, Gunther Krehl, Michael Maile, Axel Gern, and Klaus Dietmayer, <strong>A random finite set approach for dynamic occupancy grid maps with real-time application<\/strong>, The International Journal of Robotics Research<br \/>\nVol 37, Issue 8, pp. 841 &#8211; 866, <a href=\"https:\/\/doi.org\/10.1177\/0278364918775523\" target=\"_blank\">DOI: 10.1177\/0278364918775523<\/a>.<\/h4>\n<blockquote><p>Grid mapping is a well-established approach for environment perception in robotic and automotive applications. Early work suggests estimating the occupancy state of each grid cell in a robot\u2019s environment using a Bayesian filter to recursively combine new measurements with the current posterior state estimate of each grid cell. This filter is often referred to as binary Bayes filter. A basic assumption of classical occupancy grid maps is a stationary environment. Recent publications describe bottom-up approaches using particles to represent the dynamic state of a grid cell and outline prediction-update recursions in a heuristic manner. This paper defines the state of multiple grid cells as a random finite set, which allows to model the environment as a stochastic, dynamic system with multiple obstacles, observed by a stochastic measurement system. It motivates an original filter called the probability hypothesis density \/ multi-instance Bernoulli (PHD\/MIB) filter in a top-down manner. The paper presents a real-time application serving as a fusion layer for laser and radar sensor data and describes in detail a highly efficient parallel particle filter implementation. A quantitative evaluation shows that parameters of the stochastic process model affect the filter results as theoretically expected and that appropriate process and observation models provide consistent state estimation results.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Dominik Nuss, Stephan Reuter, Markus Thom, Ting Yuan, Gunther Krehl, Michael Maile, Axel Gern, and Klaus Dietmayer, A random finite <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=936\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[182],"tags":[29,347,338],"class_list":["post-936","post","type-post","status-publish","format-standard","hentry","category-mobile-robot-mapping","tag-bayesian-estimation","tag-dynamic-environments","tag-occupancy-grid-maps"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/936"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=936"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/936\/revisions"}],"predecessor-version":[{"id":937,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/936\/revisions\/937"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=936"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=936"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=936"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}