Map-Aided Fusion Using Evidential Grids for Mobile Perception in Urban Environment
نویسندگان
چکیده
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 DempsterShafer 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.
منابع مشابه
Enhancing Mobile Object Classification Using Geo-referenced Maps and Evidential Grids
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