DIFF Map and Non Sample Clauses

DIFF Map and Non. Static Object Segmentation in The Scene‌ DIFF Map (a working term) is a low-level 3D geometric map of the road surface and its close vicinity in the entire city. It encompasses road surface, curbs, posts etc. It consists of a probabilistic elevation map and simple repeatable detectable structures (planes, 3D lines). It is envisioned as an “average” map of permanent parts of the environment. DIFF Map data for a city area will come from repeated drives through the area. The data acquisition process will not be pre-planned, DIFF Map update would happen on an irregular basis as a side-effect of normal driving. Comparison of the DIFF Map with the current on-line low-level LiDAR frame is planned as a means of attention-free fast non-specific object detection (or ‘spotting’) via the principle of background subtraction. The structured part of DIFF Map is planned to aid accurate vehicle self-localization. Input • raw 3D LIDAR data, possibly fused with image data (colored and/or attributed 3D points) • possibly objects from low-level on-board segmentation Functionality • Off-line DIFF Map update. • On-line DIFF Map-aided current datapoint labeling to permanent/transient. • Grouping of such datapoints to geometrically consistent objects. • Possibly classification of such objects to semantic classes. Output • DIFF Map representations, including a possibly more rich off-line version and a version used in the vehicle on-line. • Labeling of current datapoints. Performance • DIFF Map requirements partially depend on solutions for other sensing tasks devel- oped in the Project and partially also on their structure and achieved performance. The requirements will be specified at a later stage of the Project. Design Two key mechanisms will be parts of this module:
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