Proposition for propagated occupation grids for non-rigid moving objects tracking

Abstract : Autonomous navigation among humans is, however simple it might seems, a difficult subject which draws a lot a attention in our days of increasingly autonomous systems. From a typical scene from a human environment, diverse shapes, behaviours, speeds or colours can be gathered by a lot of sensors ; and a generic mean to perceive space and dynamics is all the more needed, if not easy. We propose an incremental evolution over the well-known occupancy grid paradigm, introducing grid cell propagation over time and a limited neighbourhood, handled by probabilistic calculus. Our algorithm runs in real-time from a GPU implementation, and considers completely generically space-cells propagation, without any a priori requirements. It produces a set of belief maps of our environment, handling occupancy, but also items dynamics, relative rigidity links, and an initial object classification. Observations from free-space sensors are thus turned into information needed for autonomous navigation.
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Communication dans un congrès
IROS'11 - IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop, Sep 2011, San Francisco, United States. 2011
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Benjamin Lefaudeux, Gwennaël Gate, Fawzi Nashashibi. Proposition for propagated occupation grids for non-rigid moving objects tracking. IROS'11 - IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop, Sep 2011, San Francisco, United States. 2011. 〈hal-00662621〉

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