Mapping vehicle surroundings using an occupancy grid is commonly a performance bottleneck in many automotive applications. In particular, three dimensional map generation becomes extremely complex because of the additional degree of freedom that significantly increases the amount of occupancy grid cells to be examined. In this work, we present a novel way to speed up generation of volumetric occupancy grids, by approximating heavy calculations and utilizing efficient data structures. Our proposed method produces a IS-fold speedup in a high-resolution mode and demonstrates realtime performance, without discernible impact on the accuracy. A description of the algorithm and the data structures is provided. The algorithm is tested on a multi-sensor system in a challenging environment. Moreover, our design is portable and could suit many platforms, including embedded automotive hardware.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fast Implementation of Volumetric Occupancy Grids


    Contributors:


    Publication date :

    2019-06-01


    Size :

    634466 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    FAST IMPLEMENTATION OF VOLUMETRIC OCCUPANCY GRIDS

    Slutsky, Michael / Dobkin, Daniel | British Library Conference Proceedings | 2019


    Bayesian Learning of Occupancy Grids

    Robbiano, Christopher / Chong, Edwin K. P. / Azimi-Sadjadi, Mahmood R. et al. | IEEE | 2022


    Road course estimation in occupancy grids

    Konrad, M / Szczot, M / Dietmayer, K | IEEE | 2010


    Improved Occupancy Grids for Map Building

    Konolige, K. | British Library Online Contents | 1997


    Dynamically Sized Occupancy Grids for Obstacle Avoidance

    Marlow, Sean / Langelaan, Jack | AIAA | 2010