Princeton university press, New Jersey (1976) Shafer, G.: A Mathematical Theory of Evidence. Singh, R., Nagla, K.S.: Sonar sensor model for the precision measurement to generate robust occupancy grid map. Nuss, D., Reuter, S., Thom, M., et al.: A random finite set approach for dynamic occupancy grid maps with real-time application. The experimental results on the KITTI CITY dataset show that the proposed method can provide a more detailed and accurate map representation than the traditional methods. It will be very helpful for intelligent robots or autonomous vehicles to execute tasks such as localization, perception and navigation in a complex environment. As a result, this work allows a better handling of uncertainty information and provides more detailed semantic representations. This paper proposes a framework called Semantic Evidential Grid Map (SEGM) for generating a semantic evidential grid map based on Dempster-Shafer theory of evidence, which can combine laser scanner and stereo camera to make a map more accurate in expressing the environment without losing any details. So, it is difficult to meet the demand of tasks in a complex environment. Traditional grid maps such as occupancy grid map can only express the simple “free or occupied”. A map that can fully express environment is of great significance for intelligent robots.
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