Multivehicle Cooperative Local Mapping: A Methodology Based on Occupancy Grid Map Merging

Local mapping is valuable for many real-time applications of intelligent vehicle systems. Multivehicle cooperative local mapping can bring considerable benefits to vehicles operating in some challenging scenarios. In this paper, we introduce a method of occupancy grid map merging, dedicated to multi...

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Published in:	IEEE Transactions on Intelligent Transportation Systems Vol. 15; no. 5; pp. 2089 - 2100
Main Authors:	Hao Li, Tsukada, Manabu, Nashashibi, Fawzi, Parent, Michel
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2014 Institute of Electrical and Electronics Engineers (IEEE) The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] [SPI.AUTO] Engineering Sciences [physics]/Automatic Cooperative local mapping Cooperative perception Estimation Feature extraction Global Positioning System Intelligent transportation systems intelligent vehicle systems Intelligent vehicles Linear programming map merging Mapping Merging occupancy grid map Optimization Outdoor Perception relative pose (RP) estimation relative pose estimation Simultaneous localization and mapping Strategy Vehicles map merging relative pose (RP) estimation Cooperative local mapping intelligent vehicle systems cooperative perception occupancy grid map
ISSN:	1524-9050, 1558-0016
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Abstract	Local mapping is valuable for many real-time applications of intelligent vehicle systems. Multivehicle cooperative local mapping can bring considerable benefits to vehicles operating in some challenging scenarios. In this paper, we introduce a method of occupancy grid map merging, dedicated to multivehicle cooperative local mapping purpose in outdoor environments. In a general map merging framework, we propose an objective function based on occupancy likelihood and provide some concrete procedures designed in the spirit of genetic algorithm to optimize the defined objective function. Based on the introduced method, we further describe a strategy of indirect vehicle-to-vehicle (V2V) relative pose (RP) estimation, which can serve as a general solution for multivehicle perception association. We present a variety of experiments that validate the effectiveness of the proposed occupancy grid map merging method. We also demonstrate several useful application examples of the indirect V2V RP estimation strategy.
AbstractList	Local mapping is valuable for many real-time applications of intelligent vehicle systems. Multivehicle cooperative local mapping can bring considerable benefits to vehicles operating in some challenging scenarios. In this paper, we introduce a method of occupancy grid map merging, dedicated to multivehicle cooperative local mapping purpose in outdoor environments. In a general map merging framework, we propose an objective function based on occupancy likelihood and provide some concrete procedures designed in the spirit of genetic algorithm to optimize the defined objective function. Based on the introduced method, we further describe a strategy of indirect vehicle-to-vehicle (V2V) relative pose (RP) estimation, which can serve as a general solution for multivehicle perception association. We present a variety of experiments that validate the effectiveness of the proposed occupancy grid map merging method. We also demonstrate several useful application examples of the indirect V2V RP estimation strategy.
Author	Hao Li Nashashibi, Fawzi Tsukada, Manabu Parent, Michel
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SubjectTerms	[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] [SPI.AUTO] Engineering Sciences [physics]/Automatic Cooperative local mapping Cooperative perception Estimation Feature extraction Global Positioning System Intelligent transportation systems intelligent vehicle systems Intelligent vehicles Linear programming map merging Mapping Merging occupancy grid map Optimization Outdoor Perception relative pose (RP) estimation relative pose estimation Simultaneous localization and mapping Strategy Vehicles
Title	Multivehicle Cooperative Local Mapping: A Methodology Based on Occupancy Grid Map Merging
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