Integration of Multi-sensor Occupancy Grids into Automotive ECUs

Tiana Rakotovao 1, 2 Julien Mottin 1 Diego Puschini 1 Christian Laugier 2
1 CEA-LETI - Laboratoire d'Electronique et des Technologies de l'Information
2 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Occupancy Grids (OGs) are a popular framework for robotic perception. They were recently adopted for performing multisensor fusion and environment mapping for autonomous vehicles. However, high computational requirements strongly hinder their integration into less powerful automotive ECUs. To overcome this problem, we propose an algorithmic improvement for mapping range measurements into OGs. Experiments were conducted on a vehicle equipped with 16 LIDAR scans. Results demonstrate that a single-core ARM cortex A9 can build now in real-time OGs that map urban traffic scenarios of 100m-by-100m.
Keywords : perception sensor fusion embedded integration environment model
Type de document :
Communication dans un congrès
In Proceedings of the 53rd Annual Design Automation Conference (DAC 2016), Jun 2016, Austin, United States. 〈10.1145/2897937.2898035〉
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https://hal-cea.archives-ouvertes.fr/cea-01518771
Contributeur : Tiana Rakotovao <>
Soumis le : vendredi 5 mai 2017 - 13:45:18
Dernière modification le : mercredi 11 avril 2018 - 01:52:49

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Tiana Rakotovao, Julien Mottin, Diego Puschini, Christian Laugier. Integration of Multi-sensor Occupancy Grids into Automotive ECUs. In Proceedings of the 53rd Annual Design Automation Conference (DAC 2016), Jun 2016, Austin, United States. 〈10.1145/2897937.2898035〉. 〈cea-01518771〉

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