title: A Review of the Bayesian Occupancy Filter.
abstract: Autonomous vehicle systems are currently the object of intense research within scientiﬁc and industrial communities; however, many problems remain to be solved. One of the most critical aspects addressed in both autonomous driving and robotics is environment perception, since it consists of the ability to understand the surroundings of the vehicle to estimate risks and make decisions on future movements. In recent years, the Bayesian Occupancy Filter (BOF) method has been developed to evaluate occupancy by tessellation of the environment. A review of the BOF and its variants is presented in this paper. Moreover, we propose a detailed taxonomy where the BOF is decomposed into ﬁve progressive layers, from the level closest to the sensor to the highest abstractlevelofriskassessment. Inaddition,wepresentastudyofimplementedusecasestoprovide a practical understanding on the main uses of the BOF and its taxonomy.
authors.affiliation: University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain.
authors.forename: Marcelo
authors.initials: M
authors.lastname: Saval-Calvo
authors.affiliation: University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain.
authors.forename: Luis
authors.initials: L
authors.lastname: Medina-Valdés
authors.affiliation: University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain. jmcastillo@dtic.ua.es.
authors.forename: José María
authors.initials: JM
authors.lastname: Castillo-Secilla
authors.affiliation: University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain.
authors.forename: Sergio
authors.initials: S
authors.lastname: Cuenca-Asensi
authors.affiliation: University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain. amartinez@dtic.ua.es.
authors.forename: Antonio
authors.initials: A
authors.lastname: Martínezlvarez
authors.affiliation: Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain. jorge.villagra@csic.es.
authors.forename: Jorge
authors.initials: J
authors.lastname: Villagrá
keywords: ADAS; Bayesian Occupancy Filter (BOF); uncertainty management