Dynamic reconstruction in simultaneous localization and mapping based on the segmentation of high variability point zones

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Brayan Andru Montenegro, J. F. Flórez, Elena Muñoz
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引用次数: 0

Abstract

Dynamic scene reconstruction in real environments is still an ongoing research challenge; moving objects affect the performance of static environment-based simultaneous localization and mapping and impede a correct scene reconstruction. This paper proposes a method for dynamic scene reconstruction using sensor fusion for dynamic simultaneous localization and mapping. It employs two-dimensional LIDAR statistical behaviour to detect and segment high variability point cloud areas containing a dynamic object. The method is computationally low cost, allowing a 6.6 Hz execution rate. It obtains point cloud reconstruction of a static scene by reducing, segmenting, and concatenating successive point clouds of a dynamic environment. The tests were in real indoor environments with a robotic vehicle and a person traversing a scene. The correlation between the static environment point cloud and successive reconstructed point clouds demonstrates that the proposed method reconstructs different environments in the presence of dynamic objects. GRAPHICAL ABSTRACT
基于高变异点区域分割的同时定位和映射中的动态重建
真实环境中的动态场景重建仍然是一个正在进行的研究挑战;移动物体会影响基于静态环境的同时定位和映射的性能,并阻碍正确的场景重建。本文提出了一种利用传感器融合进行动态场景重建的方法,用于动态同时定位和映射。它采用二维激光雷达统计行为来检测和分割包含动态对象的高可变性点云区域。该方法计算成本低,允许6.6Hz的执行速率。它通过减少、分割和连接动态环境的连续点云来获得静态场景的点云重建。测试是在真实的室内环境中进行的,有一辆机器人车和一个人穿过一个场景。静态环境点云和连续重建点云之间的相关性表明,所提出的方法在存在动态对象的情况下重建不同的环境。图形摘要
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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