Online orientation prior for dynamic grid-maps

Joseph Wessner, Wolfgang Utschick

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publication32nd IEEE Intelligent Vehicles Symposium, IV 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728153940
StatePublished - 11 Jul 2021
Event32nd IEEE Intelligent Vehicles Symposium, IV 2021 - Nagoya, Japan
Duration: 11 Jul 202117 Jul 2021

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Conference32nd IEEE Intelligent Vehicles Symposium, IV 2021


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