観測時間差を利用した地上車両向けオンライン動的物体除去手法
Observation Time Difference: an Online Dynamic Objects Removal Method for Ground Vehicles
地上車両の地図構築において、物体と地面の観測時間差に基づき動的物体を「突然出現」と「突然消失」に分類し、下向き・上向き探索でオンライン除去する手法を提案。従来手法より高速かつ堅牢で、1フレームあたりの処理時間を平均60%以上削減した。
著者: Rongguang Wu, Chenglin Pang, Xuankang Wu, Zheng Fang
分類: cs.RO
原文アブストラクト
In the process of urban environment mapping, the sequential accumulations of dynamic objects will leave a large number of traces in the map. These traces will usually have bad influences on the localization accuracy and navigation performance of the robot. Therefore, dynamic objects removal plays an important role for creating clean map. However, conventional dynamic objects removal methods usually run offline. That is, the map is reprocessed after it is constructed, which undoubtedly increases additional time costs. To tackle the problem, this paper proposes a novel method for online dynamic objects removal for ground vehicles. According to the observation time difference between the object and the ground where it is located, dynamic objects are classified into two types: suddenly appear and suddenly disappear. For these two kinds of dynamic objects, we propose downward retrieval and upward retrieval methods to eliminate them respectively. We validate our method on SemanticKITTI dataset and author-collected dataset with highly dynamic objects. Compared with other state-of-the-art methods, our method is more efficient and robust, and reduces the running time per frame by more than 60$\%$ on average.
