Environment Perception Using Grid Occupancy Estimation With Belief Functions

Abstract

Grid map offers a useful representation of the perceived world for mobile robotics navigation. It will play a<br> major role for the safety (obstacle avoidance) of next generations of terrestrial vehicles, as well as for future autonomous navigation systems. In a grid map, the occupancy state of each cell represents a small piece of information of the surrounding area of the vehicle. The state of each cell must be estimated from sensors<br> measurements and classified in order to get a complete and precise perception of the dynamic environment where the vehicle moves.