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An Evidential Scheme for a Velodyne Ground Truth


This paper proposes an evidential occupancy grid mapping framework that is designed to manage these different sources of uncertainty. An evidential sensor model interprets the data acquired by the Velodyne and maps it to a 2D evidential map. The information from the sensor is processed based on the least commitment principle to guarantee information integrity. Experimental results prove that this approach can handle efficiently the uncertainties of the sensor and thus a highly reliable ground truth map all around the vehicle can be built.
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hal-01060913 , version 1 (04-09-2014)


  • HAL Id : hal-01060913 , version 1


Chunlei Yu, Philippe Bonnifait, Véronique Cherfaoui. An Evidential Scheme for a Velodyne Ground Truth. Perception for the Intelligent Vehicles, workshop, RFIA 2014, Jun 2014, Rouen, France. ⟨hal-01060913⟩
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