Managing Localization Uncertainty to Handle Semantic Lane Information from Geo-Referenced Maps in Evidential Occupancy Grids.

Occupancy grid is a popular environment model that is widely applied for autonomous navigation of mobile robots. This model encodes obstacle information into the grid cells as a reference of the space state. However, when navigating on roads, the planning module of an autonomous vehicle needs to have semantic understanding of the scene, especially concerning the accessibility of the driving space.