{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T13:55:18Z","timestamp":1774965318793,"version":"3.50.1"},"reference-count":44,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2018,7,1]],"date-time":"2018-07-01T00:00:00Z","timestamp":1530403200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001659","name":"German Research Foundation","doi-asserted-by":"crossref","award":["Transregional Collaborative Research Center SFB\/TR"],"award-info":[{"award-number":["Transregional Collaborative Research Center SFB\/TR"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2018,7]]},"abstract":"<jats:p> Grid mapping is a well-established approach for environment perception in robotic and automotive applications. Early work suggests estimating the occupancy state of each grid cell in a robot\u2019s environment using a Bayesian filter to recursively combine new measurements with the current posterior state estimate of each grid cell. This filter is often referred to as binary Bayes filter. A basic assumption of classical occupancy grid maps is a stationary environment. Recent publications describe bottom-up approaches using particles to represent the dynamic state of a grid cell and outline prediction-update recursions in a heuristic manner. This paper defines the state of multiple grid cells as a random finite set, which allows to model the environment as a stochastic, dynamic system with multiple obstacles, observed by a stochastic measurement system. It motivates an original filter called the probability hypothesis density \/ multi-instance Bernoulli (PHD\/MIB) filter in a top-down manner. The paper presents a real-time application serving as a fusion layer for laser and radar sensor data and describes in detail a highly efficient parallel particle filter implementation. A quantitative evaluation shows that parameters of the stochastic process model affect the filter results as theoretically expected and that appropriate process and observation models provide consistent state estimation results. <\/jats:p>","DOI":"10.1177\/0278364918775523","type":"journal-article","created":{"date-parts":[[2018,7,17]],"date-time":"2018-07-17T11:12:01Z","timestamp":1531825921000},"page":"841-866","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":120,"title":["A random finite set approach for dynamic occupancy grid maps with real-time application"],"prefix":"10.1177","volume":"37","author":[{"given":"Dominik","family":"Nuss","sequence":"first","affiliation":[{"name":"Mercedes-Benz Research & Development North America, Inc., USA"}]},{"given":"Stephan","family":"Reuter","sequence":"additional","affiliation":[{"name":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany"}]},{"given":"Markus","family":"Thom","sequence":"additional","affiliation":[{"name":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany"}]},{"given":"Ting","family":"Yuan","sequence":"additional","affiliation":[{"name":"Mercedes-Benz Research & Development North America, Inc., USA"}]},{"given":"Gunther","family":"Krehl","sequence":"additional","affiliation":[{"name":"Mercedes-Benz Research & Development North America, Inc., USA"}]},{"given":"Michael","family":"Maile","sequence":"additional","affiliation":[{"name":"Mercedes-Benz Research & Development North America, Inc., USA"}]},{"given":"Axel","family":"Gern","sequence":"additional","affiliation":[{"name":"Mercedes-Benz Research & Development North America, Inc., USA"}]},{"given":"Klaus","family":"Dietmayer","sequence":"additional","affiliation":[{"name":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany"}]}],"member":"179","published-online":{"date-parts":[[2018,7,17]]},"reference":[{"key":"bibr1-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"bibr2-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548106"},{"key":"bibr3-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906061158"},{"key":"bibr4-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2158097"},{"key":"bibr5-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1111\/j.2517-6161.1968.tb00722.x"},{"key":"bibr6-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-09840-1_25-1"},{"key":"bibr7-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/2.30720"},{"key":"bibr8-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164357"},{"key":"bibr9-0278364918775523","author":"Granstr\u00f6m K","year":"2016","journal-title":"CoRR"},{"key":"bibr10-0278364918775523","author":"Granstr\u00f6m K","year":"2016","journal-title":"ArXiv e-prints"},{"key":"bibr11-0278364918775523","unstructured":"Hoberock J, Bell N (2016) Thrust: A parallel template library, Version 1.8.1. http:\/\/thrust.github.io\/."},{"key":"bibr12-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548091"},{"key":"bibr13-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"bibr14-0278364918775523","first-page":"167","volume-title":"Proceedings of the International Workshop on Intelligent Transportation (WIT)","author":"Konrad M","year":"2011"},{"key":"bibr15-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2015.7225761"},{"key":"bibr16-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2011.942779"},{"key":"bibr17-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2003.1261119"},{"key":"bibr18-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2007.4441756"},{"key":"bibr19-0278364918775523","volume-title":"Statistical Multisource\u2013Multitarget Information Fusion","author":"Mahler R","year":"2007"},{"key":"bibr20-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940561"},{"key":"bibr21-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2014.6856554"},{"key":"bibr22-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2014.6856516"},{"key":"bibr23-0278364918775523","volume-title":"Proceedings of the International Conference on Information Fusion","author":"Nuss D","year":"2014"},{"key":"bibr24-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2013.6728206"},{"key":"bibr25-0278364918775523","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2015.7225827"},{"key":"bibr26-0278364918775523","unstructured":"NVIDIA (2016) CUDA CURAND Library. 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