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Computer Science > Computer Vision and Pattern Recognition

arXiv:2204.08780 (cs)
[Submitted on 19 Apr 2022]

Title:Sensor Data Fusion in Top-View Grid Maps using Evidential Reasoning with Advanced Conflict Resolution

Authors:Sven Richter, Frank Bieder, Sascha Wirges, Christoph Stiller
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Abstract:We present a new method to combine evidential top-view grid maps estimated based on heterogeneous sensor sources. Dempster's combination rule that is usually applied in this context provides undesired results with highly conflicting inputs. Therefore, we use more advanced evidential reasoning techniques and improve the conflict resolution by modeling the reliability of the evidence sources. We propose a data-driven reliability estimation to optimize the fusion quality using the Kitti-360 dataset. We apply the proposed method to the fusion of LiDAR and stereo camera data and evaluate the results qualitatively and quantitatively. The results demonstrate that our proposed method robustly combines measurements from heterogeneous sensors and successfully resolves sensor conflicts.
Subjects: Computer Vision and Pattern Recognition (cs.CV)
Cite as: arXiv:2204.08780 [cs.CV]
  (or arXiv:2204.08780v1 [cs.CV] for this version)
  https://doi.org/10.48550/arXiv.2204.08780

Submission history

From: Sven Richter [view email]
[v1] Tue, 19 Apr 2022 10:02:21 UTC (7,616 KB)
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