Real-time environment representation based on Occupancy Grid temporal analysis using a Dense Stereo-Vision System

We propose an environment representation technique by Temporal Analysis of the Occupancy Grid using a Dense Stereo-Vision System. The proposed method takes into account both the 3D information provided by the Occupancy Grid and the ego-car parameters. We use a method for computing the differences between the previous and current frames and compute an evidence space called Occupancy Grid Difference Map. Based on the difference map we created a reasoning component to generate an improved 2.5D model by representing the environment as a set of polylines with the associated static and dynamic features.