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A generic architecture for dynamic outdoor environment

Olivier Aycard 1, * Trung-Dung Vu 2 Qadeer Baig 3 Thierry Fraichard 3
* Corresponding author
3 E-MOTION - Geometry and Probability for Motion and Action
LIG - Laboratoire d'Informatique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : In this paper, we present a generic architecture for perception of an intelligent vehicle in dynamic outdoor environment. This architecture is composed of two levels: a first level dedicated to real-time local simultaneous localization and mapping (SLAM) and a second one is dedicated to detection and tracking of moving objects (DATMO). The experimental results on datasets collected from different scenarios such as: urban streets, country roads and highways demonstrate the efficiency of the proposed algorithm on a Daimler Mercedes demonstrator in the framework of the European Project PReVENT-ProFusion2 and on a Volkswagen Demonstrator in the framework of the European Project Intersafe2.
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Submitted on : Wednesday, September 21, 2011 - 4:42:17 PM
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Olivier Aycard, Trung-Dung Vu, Qadeer Baig, Thierry Fraichard. A generic architecture for dynamic outdoor environment. ICTAI - IEEE 23rd International Conference on Tools with Artificial Intelligence, Nov 2011, Boca Raton, Florida, United States. pp.585-590, ⟨10.1109/ICTAI.2011.93⟩. ⟨inria-00625492⟩



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