Dynamic Lambda-Field: A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments

Autor: Laconte, Johann, Randriamiarintsoa, Elie, Kasmi, Abderrahim, Pomerleau, François, Chapuis, Roland, Debain, Christophe, Aufrère, Romuald

In the context of autonomous vehicles, one of the most crucial tasks is to estimate the risk of the undertaken action. While navigating in complex urban environments, the Bayesian occupancy grid is one of the most popular types of maps, where the inf

Externí odkaz: http://arxiv.org/abs/2103.04795

Lambda-Field: A Continuous Counterpart of the Bayesian Occupancy Grid for Risk Assessment

Autor: Laconte, Johann, Debain, Christophe, Chapuis, Roland, Pomerleau, François, Aufrère, Romuald

In a context of autonomous robots, one of the most important task is to ensure the safety of the robot and its surrounding. Most of the time, the risk of navigation is simply said to be the probability of collision. This notion of risk is not well de

Externí odkaz: http://arxiv.org/abs/1903.02285

Dual occupancy and knowledge maps management for optimal traversability risk analysis

Autor: Benrabah, Mohamed, Orou Mousse, Charifou, Morceaux, Jérémy, Aufrère, Romuald, Chapuis, Roland, Randriamiarintsoa, Elie

Publikováno v: 26th International Conference on Information Fusion
26th International Conference on Information Fusion, Jun 2023, Charleston, SC, United States

International audience; In a context of autonomous driving, perception of the surrounding is a crucial task. It characterizes the vehicle's ability to simultaneously model its surroundings accurately and maintain its position in the environment. In t

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=od______2885::d09cdfb1558ba4da80e808d0c113b76b
https://hal.science/hal-04159142/file/Fusion_Mohamed_2023.pdf

Loop Closing in a Drift-Aware Monocular SLAM

Autor: Bresson, Guillaume, Aufrère, Romuald, Chapuis, Roland

Publikováno v: In IFAC Proceedings Volumes June 2013 46(10):256-261

Toward a Generalized Risk Assessment Method on Occupancy Grids

Autor: Morceaux, Jérémy, Laconte, Johann, Randriamiarintsoa, Elie, Morell, Ted, Malaterre, Laurent, Denis, Dieumet, Aufrère, Romuald, Chapuis, Roland

Publikováno v: International Conference on Intelligence Robots and Systems
International Conference on Intelligence Robots and Systems, Sep 2021, Prague (on line), Czech Republic

International audience; To navigate safely and efficiently, a robot must be aware of its surroundings. Although Bayesian occupancy grids are an efficient way to map the environment, they are not wellsuited to assess risks of a specific path. In this

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::5e97347b920a8cced8bdbda3d671a043
https://hal.archives-ouvertes.fr/hal-03346213/file/poster_iros_2021.pdf