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Prevention of unwanted free-declaration of static obstacles in probability occupancy grids

Krause, Stefan and Scholz, Michael and Hohmann, Ricardo (2017) Prevention of unwanted free-declaration of static obstacles in probability occupancy grids. In: IOP Conference Series: Materials Science and Engineering. International Conference on Automation, Control and Robotics 2017, 2017-08-30 - 2017-09-02, Honolulu, Hawaii, USA.

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Official URL: http://stacks.iop.org/1757-899X/261/i=1/a=012013


Obstacle detection and avoidance are major research fields in unmanned aviation. Map based obstacle detection approaches often use discrete world representations such as probabilistic grid maps to fuse incremental environment data from different views or sensors to build a comprehensive representation. The integration of continuous measurements into a discrete representation can result in rounding errors which, in turn, leads to differences between the artificial model and real environment. The cause of these deviations is a low spatial resolution of the world representation comparison to the used sensor data. Differences between artificial representations which are used for path planning or obstacle avoidance and the real world can lead to unexpected behavior up to collisions with unmapped obstacles. This paper presents three approaches to the treatment of errors that can occur during the integration of continuous laser measurement in the discrete probabilistic grid. Further, the quality of the error prevention and the processing performance are compared with real sensor data.

Item URL in elib:https://elib.dlr.de/116030/
Document Type:Conference or Workshop Item (Speech)
Title:Prevention of unwanted free-declaration of static obstacles in probability occupancy grids
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Krause, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-6969-0036UNSPECIFIED
Scholz, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-1052-6503UNSPECIFIED
Date:August 2017
Journal or Publication Title:IOP Conference Series: Materials Science and Engineering
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Lidar, probability occupancy grids, obstacle mapping, unmanned systems
Event Title:International Conference on Automation, Control and Robotics 2017
Event Location:Honolulu, Hawaii, USA
Event Type:international Conference
Event Start Date:30 August 2017
Event End Date:2 September 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Krause, Dr. Stefan
Deposited On:28 Nov 2017 15:39
Last Modified:24 Apr 2024 20:20

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