時空間法線を用いた距離データ中の動的物体検出
Dynamic Object Detection in Range data using Spatiotemporal Normals
点群の時空間法線を計算するだけで動的物体を検出できることを示し、LiDARや深度カメラで従来手法と同等の性能をより簡素な方法で実現した。
著者: Raphael Falque, Cedric Le Gentil, Fouad Sukkar
分類: cs.RO
原文アブストラクト
On the journey to enable robots to interact with the real world where humans, animals, and unpredictable elements are acting as independent agents; it is crucial for robots to have the capability to detect dynamic objects. In this paper, we argue that the detection of dynamic objects can be solved by computing the spatiotemporal normals of a point cloud. In our experiments, we demonstrate that this simple method can be used robustly for LiDAR and depth cameras with performances similar to the state of the art while offering a significantly simpler method.
