Dynamic obstacles detection and 3D map updating

Federico Ferri; Mario Gianni; Matteo Menna; Fiora Pirri

IROS 2015poster33 citations

Dynamic obstacles detection and 3D map updating

Federico Ferri, Mario Gianni, Matteo Menna, Fiora Pirri

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.

BibTeX

@inproceedings{iros2015_dynamicobstacles,
  title = {Dynamic obstacles detection and 3D map updating},
  author = {Federico Ferri and Mario Gianni and Matteo Menna and Fiora Pirri},
  booktitle = {IROS 2015},
  year = {2015}
}