Two-Stage Static/Dynamic Environment Modeling Using Voxel Representation

Perception is the process by which an intelligent system translates sensory data into an understanding of the world around it. Perception of dynamic environments is one of the key components for intelligent vehicles to operate in real-world environments. This paper proposes a method for static/dynamic modeling of the environment surrounding a vehicle. The proposed system comprises two main modules: (i) a module which estimates the ground surface using a piecewise surface fitting algorithm, and (ii) a voxel-based static/dynamic model of the vehicle’s surrounding environment using discriminative analysis. The proposed method is evaluated using KITTI dataset. Experimental results demonstrate the applicability of the proposed method.