论文标题
部分可观测时空混沌系统的无模型预测
Mapping LiDAR and Camera Measurements in a Dual Top-View Grid Representation Tailored for Automated Vehicles
论文作者
论文摘要
储层计算是预测湍流的有力工具，其简单的架构具有处理大型系统的计算效率。然而，其实现通常需要完整的状态向量测量和系统非线性知识。我们使用非线性投影函数将系统测量扩展到高维空间，然后将其输入到储层中以获得预测。我们展示了这种储层计算网络在时空混沌系统上的应用，该系统模拟了湍流的若干特征。我们表明，使用径向基函数作为非线性投影器，即使只有部分观测并且不知道控制方程，也能稳健地捕捉复杂的系统非线性。最后，我们表明，当测量稀疏、不完整且带有噪声，甚至控制方程变得不准确时，我们的网络仍然可以产生相当准确的预测，从而为实际湍流系统的无模型预测铺平了道路。
We present a generic evidential grid mapping pipeline designed for imaging sensors such as LiDARs and cameras. Our grid-based evidential model contains semantic estimates for cell occupancy and ground separately. We specify the estimation steps for input data represented by point sets, but mainly focus on input data represented by images such as disparity maps or LiDAR range images. Instead of relying on an external ground segmentation only, we deduce occupancy evidence by analyzing the surface orientation around measurements. We conduct experiments and evaluate the presented method using LiDAR and stereo camera data recorded in real traffic scenarios. Our method estimates cell occupancy robustly and with a high level of detail while maximizing efficiency and minimizing the dependency to external processing modules.
