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- W2586361410 abstract "Reconstruction of a drivability map for a moving vehicle is a well-known research topic in applied robotics. Here creating such a map for an autonomous truck on a generally planar surface containing separate obstacles is considered. The source of measurements for the truck is a calibrated pair of cameras. The stereo system detects and reconstructs several types of objects, such as road borders, other vehicles, pedestrians and general tall objects or highly saturated objects (e.g. road cone). For creating a robust mapping module we use a modification of Bayes filtering, which introduces some novel techniques for occupancy map update step. Specifically, our modified version becomes applicable to the presence of false positive measurement errors, stereo shading and obstacle occlusion. We implemented the technique and achieved real-time 15 FPS computations on an industrial shake proof PC. Our real world experiments show the positive effect of the filtering step." @default.
- W2586361410 created "2017-02-17" @default.
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- W2586361410 date "2017-02-08" @default.
- W2586361410 modified "2023-09-23" @default.
- W2586361410 title "Bayes filter modification for drivability map estimation with observations from stereo vision" @default.
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- W2586361410 doi "https://doi.org/10.1117/12.2266461" @default.
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