Map-Aided Evidential Grids for Driving Scene Understanding

  title={Map-Aided Evidential Grids for Driving Scene Understanding},
  author={Marek Kurdej and Julien Moras and V{\'e}ronique Berge-Cherfaoui and Philippe Bonnifait},
  journal={IEEE Intelligent Transportation Systems Magazine},
Evidential grids have recently been shown to have interesting properties for mobile object perception. Possessing only partial information is a frequent situation when driving in complex urban areas, and by making use of the Dempster-Shafer framework, evidential grids are able to handle partial information efficiently. This article deals with a lidar perception scheme that is enhanced by geo-referenced maps used as an additional source of information in a multi-grid fusion framework. The paper… CONTINUE READING