Dynamic Occupancy Grids for Object Detection: A Radar-Centric Approach
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866914804344553472 |
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| author | Ronecker, Max Peter Schratter, Markus Kuschnig, Lukas Watzenig, Daniel |
| author_facet | Ronecker, Max Peter Schratter, Markus Kuschnig, Lukas Watzenig, Daniel |
| contents | Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements in radar sensing, resulting in better accuracy and higher resolution, radar is emerging as a viable alternative to lidar as the primary sensor for mapping. In this paper, we propose a radar-centric dynamic occupancy grid mapping algorithm with adaptations to the state computation, inverse sensor model, and field-of-view computation tailored to the specifics of radar measurements. We extensively evaluate our approach using real data to demonstrate its effectiveness and establish the first benchmark for radar-based dynamic occupancy grid mapping using the publicly available Radarscenes dataset. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2402_01488 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Dynamic Occupancy Grids for Object Detection: A Radar-Centric Approach Ronecker, Max Peter Schratter, Markus Kuschnig, Lukas Watzenig, Daniel Robotics Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements in radar sensing, resulting in better accuracy and higher resolution, radar is emerging as a viable alternative to lidar as the primary sensor for mapping. In this paper, we propose a radar-centric dynamic occupancy grid mapping algorithm with adaptations to the state computation, inverse sensor model, and field-of-view computation tailored to the specifics of radar measurements. We extensively evaluate our approach using real data to demonstrate its effectiveness and establish the first benchmark for radar-based dynamic occupancy grid mapping using the publicly available Radarscenes dataset. |
| title | Dynamic Occupancy Grids for Object Detection: A Radar-Centric Approach |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.01488 |