Evaluation of Occupancy Grid Resolution through a Novel Approach for Inverse Sensor Modeling
| Autor: | Tiana Rakotovao, Diego Puschini, Suzanne Lesecq, Julien Mottin, Roxana Dia |
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| Přispěvatelé: | lesecq, suzanne, Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), This work has been partly funded by the EUREKA CATRENE TRACE project nb CAT311 under GA nb 152930264 and by the H2020 INSPEX project under GA nb 730953. INSPEX is supported in part by the Swiss Secretariat for Education, Research and Innovation (SERI) under Grant 16.0136 730953. |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Engineering Mathematical optimization Occupancy grid mapping Relation (database) Occupancy business.industry 05 social sciences [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO] Probabilistic logic Inverse Statistical model 02 engineering and technology Grid [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Lidar [SPI.AUTO] Engineering Sciences [physics]/Automatic Control and Systems Engineering 0502 economics and business [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] business Algorithm |
| Zdroj: | IFAC World Congress IFAC World Congress, Jul 2017, Toulouse, France |
| Popis: | International audience; Several robotic applications imply motion in complex and dynamic environments. Occupancy Grids model the surrounding environment by a grid composed of a finite number of cells. The probability whether a cell is occupied or empty is computed and updated iteratively based on sensor measurements by considering their uncertainty through probabilistic models. Even if Occupancy Grids have been widely used in the state-of-the-art, the relation between the cell size, the sensor precision and the inverse sensor model is usually neglected. In this paper, we propose a methodology to build the inverse probabilistic model for single-target sensors. The proposed approach is then applied to a LiDAR in order to evaluate the impact of the variation in the sensor precision and the grid resolution on the inverse sensor model. Based on this study, we finally propose a procedure that allows to choose the suitable grid resolution for obtaining a desired maximum occupancy probability in the inverse sensor model. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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