Dynamic Hilbert Maps: Real-Time Occupancy Predictions in Changing Environment

4 Dec 2019  ·  Vitor Guizilini, Ransalu Senanayake, Fabio Ramos ·

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the efficient and robust incorporation of temporal dependencies into otherwise static occupancy models remains a challenge. We propose a method to capture the spatial uncertainty of moving objects and incorporate this uncertainty information into a continuous occupancy map represented in a rich high-dimensional feature space. Experiments performed using LIDAR data verified the real-time performance of the algorithm.

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