2024
MIM: Indoor and Outdoor Navigation in Complex Environments Using Multi-Layer Intensity Maps
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Mason Russell, Jason Pusey, Dinesh Manocha
ICRA 2024poster
We present MIM (Multi-Layer Intensity Map), a novel 3D object representation for robot perception and autonomous navigation. MIMs consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities corresponding to a certain height interval. The different layers of…