Performance Evaluation of the Highway Radar Occupancy Grid.

Jakub Porębski,Krzysztof Kogut

doi:10.3390/s21062177

Abstract

The quality of environmental perception is crucial for automated vehicle capabilities. In order to ensure the required accuracy, the occupancy grid mapping algorithm is often utilised to fuse data from multiple sensors. This paper focuses on the radar-based occupancy grid for highway applications and describes how to measure effectively the quality of the occupancy map. The evaluation was performed using the novel grid pole-like object analysis method. The proposed assessment is versatile and can be applied without detailed ground truth information. The evaluation was tested with a simulation and real vehicle experiments on the highway.

Highlights

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The main contributions of this work are the design and analysis of an occupancy grid evaluation method; we provide an overview of the filtering capabilities of the algorithm
Future work might consider evaluation of the grid quality against complex objects if the ground truth for them will be accessible

Summary

Introduction

Performance Evaluation of the Highway Radar Occupancy Grid. Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Methods

Results

Conclusion