A fusion of dynamic occupancy grid mapping and multi-object tracking based on lidar and camera sensors

Yuchun Wang, Boyang Wang*, Xu Wang, Yingqi Tan, Jianyong Qi, Jianwei Gong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)

Abstract

Establishing a grid map containing dynamic and static information is an essential work for further research on motion planning systems that consider the interactive effects of multiple traffic participants. The algorithms will become efficient if we could take advantage of the interrelationship between dynamic occupancy grid mapping and multi-object tracking. Therefore, the purpose of this paper is to achieve a synergistic improvement in the effects of mapping and tracking algorithms by constructing the association between object tracking and map updating based on the fusion of Lidar and image information. After the fusion of the original Lidar point cloud and category information based on image deep learning, the static and dynamic grid regions in the grid map are updated separately. Among them, the particle filtering algorithm applied for dynamic grid optimization update utilizes the initial information given by the object tracking algorithm, and the update results of the dynamic grid in turn give guidance information for object tracking. This paper not only demonstrates the optimization effect of particle filtering on dynamic grid update when object tracking fails but also discusses the effect of the dynamic occupancy grid map on multi-object tracking accuracy and efficiency. The results show that the proposed method can achieve the establishment of the dynamic occupancy grid map and multi-object tracking simultaneously.

Original languageEnglish
Title of host publicationProceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages107-112
Number of pages6
ISBN (Electronic)9781728180250
DOIs
Publication statusPublished - 27 Nov 2020
Event3rd International Conference on Unmanned Systems, ICUS 2020 - Harbin, China
Duration: 27 Nov 202028 Nov 2020

Publication series

NameProceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020

Conference

Conference3rd International Conference on Unmanned Systems, ICUS 2020
Country/TerritoryChina
CityHarbin
Period27/11/2028/11/20

Keywords

  • Dynamic occupancy grid mapping
  • Fusion
  • Multiobject tracking

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