Dynamic Occupancy Grid Map with Semantic Information Using Deep Learning-Based BEVFusion Method with Camera and LiDAR Fusion
Bibliographic record
Abstract
In the field of robotics and autonomous driving, dynamic occupancy grid maps (DOGMs) are typically used to represent the position and velocity information of objects. Although three-dimensional light detection and ranging (LiDAR) sensor-based DOGMs have been actively researched, they have limitations, as they cannot classify types of objects. Therefore, in this study, a deep learning-based camera-LiDAR sensor fusion technique is employed as input to DOGMs. Consequently, not only the position and velocity information of objects but also their class information can be updated, expanding the application areas of DOGMs. Moreover, unclassified LiDAR point measurements contribute to the formation of a map of the surrounding environment, improving the reliability of perception by registering objects that were not classified by deep learning. To achieve this, we developed update rules on the basis of the Dempster-Shafer evidence theory, incorporating class information and the uncertainty of objects occupying grid cells. Furthermore, we analyzed the accuracy of the velocity estimation using two update models. One assigns the occupancy probability only to the edges of the oriented bounding box, whereas the other assigns the occupancy probability to the entire area of the box. The performance of the developed perception technique is evaluated using the public nuScenes dataset. The developed DOGM with object class information will help autonomous vehicles to navigate in complex urban driving environments by providing them with rich information, such as the class and velocity of nearby obstacles.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".