Skip to Main content Skip to Navigation
New interface
Conference papers

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [14 references]  Display  Hide  Download
Contributor : Benjamin Lefaudeux Connect in order to contact the contributor
Submitted on : Thursday, February 9, 2012 - 3:35:13 PM
Last modification on : Tuesday, October 25, 2022 - 4:18:03 PM
Long-term archiving on: : Thursday, November 22, 2012 - 11:46:05 AM


Files produced by the author(s)


  • HAL Id : hal-00662621, version 1


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, Philippe Martinet, Sep 2011, San Francisco, United States. ⟨hal-00662621⟩



Record views


Files downloads