Dynamic level of detail 3D occupancy grids for automotive use

In this paper, a generic approach for three-dimensional environment representation is presented. Scans from range finders are accumulated into a three-dimensional occupancy grid. A probabilistic measurement model is used to represent measurement uncertainties. Free regions are modelled as well and contribute to a precise representation of the environment. In order to acquire a feasible three-dimensional grid, a hierarchical data structure is proposed. As a positive result, the level of detail and respectively the grid resolution is controllable by the application or by the content. As an example application, it will be shown how height information can be derived from a sensor with one horizontal scan plane only.