Projekteja vuodessa
Abstrakti
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.
Alkuperäiskieli | Englanti |
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Otsikko | 2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2024 |
Kustantaja | IEEE |
ISBN (elektroninen) | 979-8-3503-6803-1 |
ISBN (painettu) | 979-8-3503-6804-8 |
DOI - pysyväislinkit | |
Tila | Julkaistu - 4 syysk. 2024 |
OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
Tapahtuma | IEEE International Conference on Multisensor Fusion and Integration - Pilsen, Tshekki Kesto: 4 syysk. 2024 → 6 syysk. 2024 |
Julkaisusarja
Nimi | Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems |
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ISSN (elektroninen) | 2767-9357 |
Conference
Conference | IEEE International Conference on Multisensor Fusion and Integration |
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Maa/Alue | Tshekki |
Kaupunki | Pilsen |
Ajanjakso | 04/09/2024 → 06/09/2024 |
Sormenjälki
Sukella tutkimusaiheisiin 'Localization under consistent assumptions over dynamics'. Ne muodostavat yhdessä ainutlaatuisen sormenjäljen.Projektit
- 1 Päättynyt
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SANTTU: Kumppanuusmalli - SANTTU - Aalto
Kyrki, V. (Vastuullinen tutkija), Chaubey, S. (Projektin jäsen), Verdoja, F. (Projektin jäsen), Pekkanen, M. (Projektin jäsen), Nguyen Le, T. (Projektin jäsen), Arndt, K. (Projektin jäsen), Struckmeier, O. (Projektin jäsen), Hannus, E. (Projektin jäsen) & Blanco Mulero, D. (Projektin jäsen)
01/04/2022 → 31/03/2024
Projekti: Business Finland: Strategic centres for science, technology and innovation (SHOK)