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.
Dynamic obstacles detection and 3D map updating / Ferri, Federico; Gianni, Mario; PIRRI ARDIZZONE, Maria Fiora. - ELETTRONICO. - (2015), pp. 5694-5699. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 tenutosi a Hamburg; Germany nel Sept. 28 2015-Oct. 2 2015) [10.1109/IROS.2015.7354185].
Dynamic obstacles detection and 3D map updating
FERRI, FEDERICO
;GIANNI, Mario
;PIRRI ARDIZZONE, Maria Fiora
2015
Abstract
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.| File | Dimensione | Formato | |
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