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Semantic 3D Grid Maps for Autonomous Driving
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Scania CV AB, S-15187 Södertälje, Sweden..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-3432-6151
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-4815-9689
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-1170-7162
2022 (English)In: 2022 IEEE 25TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), Institute of Electrical and Electronics Engineers (IEEE) , 2022, p. 2681-2688Conference paper, Published paper (Refereed)
Abstract [en]

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is threedimensional, it is common to rely on 2D map representations in order to meet real-time constraints. We believe that high levels of situation awareness require a 3D representation as well as the inclusion of semantic information. We demonstrate that our recently presented hierarchical 3D grid mapping framework UFOMap meets the real-time constraints. Furthermore, we show how it can be used to efficiently support more complex functions such as calculating the occluded parts of space and accumulating the output from a semantic segmentation network.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2022. p. 2681-2688
Series
IEEE International Conference on Intelligent Transportation Systems-ITSC, ISSN 2153-0009
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-326399DOI: 10.1109/ITSC55140.2022.9922537ISI: 000934720602102Scopus ID: 2-s2.0-85141822719OAI: oai:DiVA.org:kth-326399DiVA, id: diva2:1754024
Conference
IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), OCT 08-12, 2022, Macau, PEOPLES R CHINA
Note

QC 20230502

Available from: 2023-05-02 Created: 2023-05-02 Last updated: 2023-05-02Bibliographically approved

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Khoche, AjinkyaWozniak, Maciej K.Duberg, DanielJensfelt, Patric

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