Occupancy Grid Mapping for Automotive Driving Exploiting Clustered Sparsity

Abstract

Occupancy grid maps provide information about obstacles and available free space in the environment and are crucial in automotive driving applications. An occupancy map is constructed using point cloud data from sensor modalities such as light detection and ranging (LiDAR) and radar used for automotive perception. In this article, we formulate the problem of estimating the occupancy grid map using sensor point cloud data as a sparse binary occupancy value reconstruction problem. Our proposed occupancy grid estimation method, based on pattern-coupled sparse Bayesian learning (PC-SBL), leverages the sparsity and spatial dependencies inherent in occupancy maps typically encountered in automotive scenarios. The proposed method shows enhanced detection capabilities compared to two benchmark methods based on performance evaluation with scenes from the nuScenes and RADIal public datasets.