レーダー中心の動的占有グリッドによる物体検出
Dynamic Occupancy Grids for Object Detection: A Radar-Centric Approach
レーダー計測に特化した動的占有グリッドマッピング手法を提案し、Radarscenesデータセットで初のベンチマークを構築した。
著者: Max Peter Ronecker, Markus Schratter, Lukas Kuschnig, Daniel Watzenig
分類: cs.RO
原文アブストラクト
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements in radar sensing, resulting in better accuracy and higher resolution, radar is emerging as a viable alternative to lidar as the primary sensor for mapping. In this paper, we propose a radar-centric dynamic occupancy grid mapping algorithm with adaptations to the state computation, inverse sensor model, and field-of-view computation tailored to the specifics of radar measurements. We extensively evaluate our approach using real data to demonstrate its effectiveness and establish the first benchmark for radar-based dynamic occupancy grid mapping using the publicly available Radarscenes dataset.
