Print Email Facebook Twitter Occupancy Grid Mapping with Cognitive Plausibility for Autonomous Driving Applications Title Occupancy Grid Mapping with Cognitive Plausibility for Autonomous Driving Applications Author Plebe, Alice (Università di Trento) Kooij, J.F.P. (TU Delft Intelligent Vehicles) Pietro Rosati Papini, Gastone (Università di Trento) Da Lio, Mauro (Università di Trento) Date 2021 Abstract This work investigates the validity of an occupancy grid mapping inspired by human cognition and the way humans visually perceive the environment. This query is motivated by the fact that, to date, no autonomous driving system reaches the performance of an ordinary human driver. The mechanisms behind human perception could provide cues on how to improve common techniques employed in autonomous navigation - specifically the use of occupancy grids to represent the environment. We experiment with a neural network that maps an image of the scene onto an occupancy grid representation, and we show how the model benefits from two key (and yet simple) changes: 1) a different format of occupancy grid that resembles the way the brain projects the environment into a warped representation in the cortical visual area; 2) a mechanism similar to human visual attention that filters out non-relevant information from the scene. These effective expedients can potentially be applied to any autonomous driving task requiring an abstract representation of the scenario like the occupancy grids. To reference this document use: http://resolver.tudelft.nl/uuid:630976cf-30e4-4ce9-aadd-b6f91aa60491 DOI https://doi.org/10.1109/ICCVW54120.2021.00328 Publisher IEEE Embargo date 2022-05-24 ISBN 978-1-6654-0191-3 Source Proceedings of the IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021 Event 18th IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021, 2021-10-11 → 2021-10-17, Virtual, Online, Canada Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2021 Alice Plebe, J.F.P. Kooij, Gastone Pietro Rosati Papini, Mauro Da Lio Files PDF Occupancy_Grid_Mapping_wi ... ations.pdf 6.06 MB Close viewer /islandora/object/uuid:630976cf-30e4-4ce9-aadd-b6f91aa60491/datastream/OBJ/view