Online orientation prior for dynamic grid-maps

This work gives a summary of our implemented algorithm for dynamic grid map with integrated cell-based velocity estimation. We propose a novel approach to generate prior information for the orientation of newly initialized particles. Our proposal does not rely on any additional input information as maps with the road topology, but does only rely on the vehicle motions and sensor data. Furthermore we show the improvement resulting from this prior information under certain conditions such as turning scenarios and that there is no significant degradation in other conditions.