Evidential grids have been recently used for mobile object perception. Thenovelty of this article is to propose a perception scheme using prior mapknowledge. A geographic map is considered an additional source of informationfused with a grid representing sensor data. Yager's rule is adapted to exploitthe Dempster-Shafer conflict information at large. In order to distinguishstationary and mobile objects, a counter is introduced and used as a factor formass function specialisation. Contextual discounting is used, since we assumethat different pieces of information become obsolete at different rates. Testson real-world data are also presented.
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