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Conference Papers Year : 2012

Map-aided Fusion Using Evidential Grids for Mobile Perception in Urban Environment

Abstract

Evidential grids have been recently used for mobile object perception. The novelty of this article is to propose a perception scheme using prior map knowledge. A geographic map is considered an additional source of information fused with a grid representing sensor data. Yager's rule is adapted to exploit the Dempster-Shafer conflict information at large. In order to distinguish stationary and mobile objects, a counter is introduced and used as a factor for mass function specialisation. Contextual discounting is used, since we assume that different pieces of information become obsolete at different rates. Tests on real-world data are also presented.
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Dates and versions

hal-00714465 , version 1 (04-07-2012)

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Marek Kurdej, Julien Moras, Véronique Cherfaoui, Philippe Bonnifait. Map-aided Fusion Using Evidential Grids for Mobile Perception in Urban Environment. The 2nd International Conference on Belief Functions (BELIEF 2012), May 2012, Compiègne, France. pp.343-350. ⟨hal-00714465⟩
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