菜鸟看论文——Stochastic Occupancy Grids and Dynamic Programming（一）

参考论文：

07.Free Space Computation Using Stochastic Occupancy Grids and Dynamic Programming

08.Stereo-based Free Space Computation in Complex Traffic Scenarios

08.Dynamic Stereo Vision for Intersection Assistance

08.Towards optimal stereo analysis of image sequences

An occupancy grid M is a two-dimensional array or grid which models occupancy evidence of the environment

There are two main types of occupancy grids: deterministic and stochastic grids. Deterministic grids are basically bidimensional histograms counting 3D points. They are usually obtained by projecting the 3D view of measurements onto the road and counting the number of points falling onto the same cell area . The noise properties of the 3D measurements are not explicitly modeled. Grid cells with a large amount of hits are more likely to be occupied as those with few or no points. The choice of the discretization of cells of a determistic grid requires the usual compromise of any sampling process. Small discretization values might avoid the accumulation of points. Large discretization values loses spatial resolution, and therefore, estimation accuracy.

On the other hand, the cells of the stochastic occupancy grids maintain a  likelihood or probability of occupancy. Instead of counting points, the stochastic grids define an update function which specifies the operation to perform on every  cell, based on the measurement and its noise properties. Stochastic  occupancy grids are more expensive to compute but are more informative and  do not suffer from discretization effects, as compared to deterministic grids

However, the error of the triangulated 3D points is modelled as a Gaussian  distribution. This leads to biased estimates of 3D position [11], and therefore  to the wrong estimation of free space.

As mentioned in the introduction, it is common to accumulate all 3D points above ground in a stochastic occupancy grid. Figure 2 shows such a grid obtained for the urban situation considered in the sequel. The origin of the coordinate system is centered in our own vehicle. Our standard stereo camera system has a base line of 30cm and an angle of view of 42 deg. The imagers have VGA resolution.The Occupancy Grid Integration block performs a low-pass filter with  the predicted occupancy grid based on the ego-motion of the camera. Finally,  the free space is computed using dynamic programming on the polar grid.