论文标题
用于自动驾驶的语义3D网格图
Semantic 3D Grid Maps for Autonomous Driving
论文作者
论文摘要
地图在快速发展的自动驾驶领域中起着关键作用。我们调查了不同地图表示的文献，发现尽管世界是三维的，但通常依靠2D地图表示以满足实时限制是很常见的。我们认为，高水平的情况意识需要3D表示以及包含语义信息。我们证明了我们最近介绍的分层3D网格映射框架UFOMAP符合实时约束。此外，我们展示了如何使用它来有效地支持更复杂的功能，例如计算空间的遮挡部分并从语义分割网络中累积输出。
Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to meet real-time constraints. We believe that high levels of situation awareness require a 3D representation as well as the inclusion of semantic information. We demonstrate that our recently presented hierarchical 3D grid mapping framework UFOMap meets the real-time constraints. Furthermore, we show how it can be used to efficiently support more complex functions such as calculating the occluded parts of space and accumulating the output from a semantic segmentation network.
