Dynamic Environment Modeling with Gridmap: A Multiple-Object Tracking Application

— The Bayesian occupancy filter (BOF) [1] has achieved promising results in the object tracking applications. This paper presents a new development of BOF which inherits original BOF’s advantages in handling occlusion and representing objects’ shape. Meanwhile, the new formulation has significantly reduced original BOF’s complexities and can be run in realtime. In Bayesian occupancy filter, the environment is finely divided into 2-dimensional grids. Different from conventional occupancy gridmaps, in BOF, each grid has both static (occupancy) and dynamic (velocity) characteristics. In the new proposed BOF, the velocity of each cell is modeled as a distribution. The distribution for each cell occupancy can therefore be inferred using a filtering mechanism. Like the original BOF, no representation of objects exists in the BOF gridmap. However, there are often applications which require the definition and tracking at the object level. In the post-processing, a segmentation al...

• Type: Conference
• Year: 2006
• Where: ICARCV
• Authors: Cheng Chen, Christopher Tay, Christian Laugier, Kamel Mekhnacha
• Keywords: Bayesian Occupancy filter, ICARCV 2006, Original Bof, Original Bof Advantages