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Efficient occupancy grid computation on the GPU with lidar and radar for road boundary detection

F. Homm, N. Kaempchen, J. Ota, D. Burschka
BMW Group, Res. & Technol., Munich, Germany
IEEE Intelligent Vehicles Symposium (IV), 2010

@inproceedings{homm2010efficient,

   title={Efficient occupancy grid computation on the GPU with lidar and radar for road boundary detection},

   author={Homm, F. and Kaempchen, N. and Ota, J. and Burschka, D.},

   booktitle={Intelligent Vehicles Symposium (IV), 2010 IEEE},

   pages={1006–1013},

   organization={IEEE},

   year={2010}

}

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Accurate maps of the static environment are essential for many advanced driver-assistance systems. In this paper a new method for the fast computation of occupancy grid maps with laser range-finders and radar sensors is proposed. The approach utilizes the Graphics Processing Unit to overcome the limitations of classical occupancy grid computation in automotive environments. It is possible to generate highly accurate grid maps in just a few milliseconds without the loss of sensor precision. Moreover, in the case of a lower resolution radar sensor it is shown that it is suitable to apply super-resolution algorithms to achieve the accuracy of a higher resolution laser-scanner. Finally, a novel histogram based approach for road boundary detection with lidar and radar sensors is presented.
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