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.
2015
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Heuristic algorithms;Laser radar;Navigation;Planning;Real-time systems;Solid modeling;Three-dimensional displays
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
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].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/843183
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