Object-Oriented Grid Mapping in Dynamic Environments

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

Abstract

Grid maps, especially occupancy grid maps, are ubiquitous in many mobile robot applications. To simplify the process of learning the map, grid maps subdivide the world into a grid of cells whose occupancies are independently estimated using measurements in the perceptual field of the particular cell. However, the world consists of objects that span multiple cells, which means that measurements falling onto a cell provide evidence of the occupancy of other cells belonging to the same object. Current models do not capture this correlation and, therefore, do not use object-level information for estimating the state of the environment. In this work, we present a way to generalize the update of grid maps, relaxing the assumption of independence. We propose modeling the relationship between the measurements and the occupancy of each cell as a set of latent variables and jointly estimate those variables and the posterior of the map. We propose a method to estimate the latent variables by clustering based on semantic labels and an extension to the Normal Distributions Transform Occupancy Map (NDT-OM) to facilitate the proposed map update method. We perform comprehensive map creation and localization experiments with real-world data sets and show that the proposed method creates better maps in highly dynamic environments compared to state-of-the-art methods. Finally, we demonstrate the ability of the proposed method to remove occluded objects from the map in a lifelong map update scenario.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2024
PublisherIEEE
Number of pages8
ISBN (Electronic)979-8-3503-6803-1
ISBN (Print)979-8-3503-6804-8
DOIs
Publication statusPublished - 4 Sept 2024
MoE publication typeA4 Conference publication
EventIEEE International Conference on Multisensor Fusion and Integration - Pilsen, Czech Republic
Duration: 4 Sept 20246 Sept 2024

Conference

ConferenceIEEE International Conference on Multisensor Fusion and Integration
Country/TerritoryCzech Republic
CityPilsen
Period04/09/202406/09/2024

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