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Authors: Mingkang Li 1 ; Zhaofei Feng 2 ; Martin Stolz 2 ; Martin Kunert 2 ; Roman Henze 3 and Ferit Küçükay 3

Affiliations: 1 Advanced Engineering Sensor Systems, Robert Bosch GmbH and Technische Universität Braunschweig, Germany ; 2 Advanced Engineering Sensor Systems and Robert Bosch GmbH, Germany ; 3 Technische Universität Braunschweig, Germany

ISBN: 978-989-758-293-6

Keyword(s): Automotive Radar Sensor, Environmental Perception, Occupancy Grid, Free Space Detection, Imaging Radar.

Abstract: The high-resolution radar sensors have the ability to detect thousands of reflection points per cycle, which promotes the perception capability on a pixel level similar to video systems. In this paper, an occupancy grid map is created to model the static environment. The reflection amplitudes of all detection points are compensated, normalized, and then converted to the detection probability based on a radar sensor model. According to the movement of the ego vehicle, the a posteriori occupancy probability is computed to build the occupancy grid map. Thereafter the occupancy grid map is converted to the binary grid map, where the grids in the obstacle areas are defined as occupied. In order to eliminate the outliers, the connected occupied grids are clustered using the Connected-Component Labelling algorithm. Through the Moore-Neighbour Tracing algorithm the boundaries of the clustered occupied grids are recognized. Based on the boundaries, the interval-based free space detection is pe rformed using the Bresenham's line algorithm. As mentioned, the occupancy grid map and the free space detection results obtained from radar road measurements match with the real scenarios. (More)

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Paper citation in several formats:
Li, M.; Feng, Z.; Stolz, M.; Kunert, M.; Henze, R. and Küçükay, F. (2018). High Resolution Radar-based Occupancy Grid Mapping and Free Space Detection.In Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-293-6, pages 70-81. DOI: 10.5220/0006667300700081

@conference{vehits18,
author={Mingkang Li. and Zhaofei Feng. and Martin Stolz. and Martin Kunert. and Roman Henze. and Ferit Kü\c{C}ükay.},
title={High Resolution Radar-based Occupancy Grid Mapping and Free Space Detection},
booktitle={Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2018},
pages={70-81},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006667300700081},
isbn={978-989-758-293-6},
}

TY - CONF

JO - Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - High Resolution Radar-based Occupancy Grid Mapping and Free Space Detection
SN - 978-989-758-293-6
AU - Li, M.
AU - Feng, Z.
AU - Stolz, M.
AU - Kunert, M.
AU - Henze, R.
AU - Küçükay, F.
PY - 2018
SP - 70
EP - 81
DO - 10.5220/0006667300700081

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