Semantic 3D Grid Maps for Autonomous Driving
| Autor: | Khoche, Ajinkya, Wozniak, Maciej K, Duberg, Daniel, Jensfelt, Patric |
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| Rok vydání: | 2022 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/ITSC55140.2022.9922537 |
| Popis: | Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to meet real-time constraints. We believe that high levels of situation awareness require a 3D representation as well as the inclusion of semantic information. We demonstrate that our recently presented hierarchical 3D grid mapping framework UFOMap meets the real-time constraints. Furthermore, we show how it can be used to efficiently support more complex functions such as calculating the occluded parts of space and accumulating the output from a semantic segmentation network. Comment: Submitted, accepted and presented at the 25th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2022) |
| Databáze: | arXiv |
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