Matthieu Gallet de Saint Aurin

Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes

We present a novel method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future information of dynamic scenes. Our au-tomated generation process creates groundtruth SOGMs from previous navigation data. We build on prior work to annotate lidar points base…