Dynamic obstacles detection and 3D map updating
Dynamic obstacles detection and 3D map updating
复制标题
DOI：
10.1109/iros.2015.7354185
复制
发表时间：
2015-12
期刊：
影响因子：
--
通讯作者：
Federico Ferri;M. Gianni;Matteo Menna;F. Pirri
中科院分区：
文献类型：
--
作者：
Federico Ferri;M. Gianni;Matteo Menna;F. Pirri
我们提出了一种真实的实时更新三维地图的动态障碍物检测方法。运动障碍物检测通过光线投射点云的球面体素化。我们评估点云数据集上的这种方法的准确性，适当地构建在相对运动条件下测试射线表面相交。此外，我们展示了地图更新的好处，在一个真实的机器人配备了旋转激光雷达系统，导航在真实的世界的情况下，人口移动的人。
We present a real time method for updating a 3D map with dynamic obstacles detection. Moving obstacles are detected through ray-casting on spherical voxelization of point clouds. We evaluate the accuracy of this method on a point cloud dataset, suitably constructed for testing ray-surface intersection under relative motion conditions. Moreover, we show the benefits of the map updating in a real robot equipped with a rotating LIDAR system, navigating in real world scenarios, populated by moving people.