DynORecon: ナビゲーションのための動的物体再構成
DynORecon: Dynamic Object Reconstruction for Navigation
Dynamic SLAMの運動推定を活用し、動く物体の3D再構成と自由空間推定を同時に行うシステムを提案。約20FPSで動作し、約10cmの精度で動的物体を再構成できる。
著者: Yiduo Wang, Jesse Morris, Lan Wu, Teresa Vidal-Calleja, Viorela Ila
分類: cs.RO
原文アブストラクト
This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observed moving entities while estimating free space to support navigation. By capitalising on the motion estimations provided by Dynamic SLAM, DynORecon continuously refines the representation of dynamic objects to eliminate residual artefacts from past observations and incrementally reconstructs each object, seamlessly integrating new observations to capture previously unseen structures. Our system is highly efficient (~20 FPS) and produces accurate (~10 cm) reconstructions of dynamic objects using simulated and real-world outdoor datasets.
