论文标题

深层传感器模型作为证据占用映射的先验

Deep Inverse Sensor Models as Priors for evidential Occupancy Mapping

论文作者

Bauer, Daniel, Kuhnert, Lars, Eckstein, Lutz

论文摘要

随着最近自动驾驶的提升,人们对雷达的关注越来越大,作为入住映射的投入。除了它们的许多好处外,由于数据的稀疏性和环境依赖噪声(例如,多径反射),众所周知,基于雷达检测的占用空间的推断很困难。最近,基于深度学习的逆传感器模型,从此处称为Deep ISM,已显示出在检索占用信息方面对其几何对应物进行改进。然而,这些方法执行了数据驱动的插值,在存在测量的情况下,必须在稍后进行验证。在这项工作中,我们描述了一种新颖的方法,将深层ISM与几何ISM一起整合到证据占用映射框架中。我们的方法利用了数据驱动方法的两种能力来初始化细胞的初始化几何模型,从而有效地增强了感知场和收敛速度,而同时使用几何学ISM的精度将其融合到锋利的边界。我们进一步定义了Deep ISM估计的确定性的下限以及收敛的分析证明,我们用来区分仅由深层ISM分配的细胞与已经使用几何方法验证的细胞分配的细胞。

With the recent boost in autonomous driving, increased attention has been paid on radars as an input for occupancy mapping. Besides their many benefits, the inference of occupied space based on radar detections is notoriously difficult because of the data sparsity and the environment dependent noise (e.g. multipath reflections). Recently, deep learning-based inverse sensor models, from here on called deep ISMs, have been shown to improve over their geometric counterparts in retrieving occupancy information. Nevertheless, these methods perform a data-driven interpolation which has to be verified later on in the presence of measurements. In this work, we describe a novel approach to integrate deep ISMs together with geometric ISMs into the evidential occupancy mapping framework. Our method leverages both the capabilities of the data-driven approach to initialize cells not yet observable for the geometric model effectively enhancing the perception field and convergence speed, while at the same time use the precision of the geometric ISM to converge to sharp boundaries. We further define a lower limit on the deep ISM estimate's certainty together with analytical proofs of convergence which we use to distinguish cells that are solely allocated by the deep ISM from cells already verified using the geometric approach.

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