Controlling Remanence in Evidential Grids Using Geodata for Dynamic Scene Perception

This article proposes a perception scheme in the field of intelligent vehicles. The method exploits prior map knowledge and makes use of evidential grids constructed from the sensor data. Evidential grids are based on occupancy grids and the formalism of the Dempster–Shafer theory. Prior knowledge is obtained from a geographic map which is considered as an additional source of information and combined with a grid representing sensor data. Since the vehicle environment is dynamic, stationary and mobile objects have to be distinguished. In order to achieve this objective, evidential conflict information is used for mobile cell detection. As well, an accumulator is introduced and used as a factor for mass function specialisation in order to detect static cells. data recorded in urban conditions illustrate the benefits of the presented approach.