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Abstract
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving-i.e., semistatic-objects, which are usually recorded in the map and treated as static objects, violating the static world assumption and causing errors in the localization. This paper presents a method for consistently modeling moving and movable objects to match the map and measurements. This reduces the error resulting from inconsistent categorization and treatment of non-static measurements. A semantic segmentation network is used to categorize the measurements into static and semi-static classes, and a background subtraction filter is used to remove dynamic measurements. Finally, we show that consistent assumptions over dynamics improve localization accuracy when compared against a state-of-the-art baseline solution using real-world data from the Oxford Radar RobotCar data set.
Original language | English |
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Title of host publication | 2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2024 |
Publisher | IEEE |
ISBN (Electronic) | 979-8-3503-6803-1 |
ISBN (Print) | 979-8-3503-6804-8 |
DOIs | |
Publication status | Published - 4 Sept 2024 |
MoE publication type | A4 Conference publication |
Event | IEEE International Conference on Multisensor Fusion and Integration - Pilsen, Czech Republic Duration: 4 Sept 2024 → 6 Sept 2024 |
Conference
Conference | IEEE International Conference on Multisensor Fusion and Integration |
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Country/Territory | Czech Republic |
City | Pilsen |
Period | 04/09/2024 → 06/09/2024 |
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Dive into the research topics of 'Localization under consistent assumptions over dynamics'. Together they form a unique fingerprint.Projects
- 1 Finished
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SANTTU: Kumppanuusmalli - SANTTU - Aalto
Kyrki, V. (Principal investigator), Chaubey, S. (Project Member), Verdoja, F. (Project Member), Pekkanen, M. (Project Member), Nguyen Le, T. (Project Member), Arndt, K. (Project Member), Struckmeier, O. (Project Member), Hannus, E. (Project Member) & Blanco Mulero, D. (Project Member)
01/04/2022 → 30/06/2024
Project: Business Finland: Strategic centres for science, technology and innovation (SHOK)