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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, 30. Aug. - 02. Sep. 2017, Honolulu, Hawaii, USA.

Full text not available from this repository.

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Krause, Stefanstefan.krause (at) dlr.deUNSPECIFIED
Scholz, Michaelmichael.scholz (at) dlr.deUNSPECIFIED
Hohmann, RicardoUNSPECIFIEDUNSPECIFIED
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 SCOPUS:Yes
In ISI Web of Science:No
Status:Published
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 Dates:30. Aug. - 02. Sep. 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
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Krause, Stefan
Deposited On:28 Nov 2017 15:39
Last Modified:23 Feb 2019 00:22

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