Year: 2024
Type: conference-paper
Abstract: We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive volumetric maps. To enhance efficiency on computationally limited robots, we reuse data between the odometry and detection module. Utilizing a range image segmentation technique and a novel residual-based heuristic, our method distinguishes dynamic from static objects before integrating them into the point cloud map. The approach demonstrates robust object tracking and improved map accuracy in environments with numerous dynamic objects. Even highly non-rigid objects, such as running humans, are accurately detected at point level without prior downsampling of the point cloud and hence, without loss of information. Evaluation on simulated and real-world data validates its computational efficiency. Compared to a stateof-the-art volumetric method, our approach shows comparable detection performance at a fraction of the processing time, adding only 14 ms to the odometry module for dynamic object detection and tracking. The implementation and a new realworld dataset are available as open-source for further research.
Institution: Technische Universität Darmstadt
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Awards: Verbundprojekt: KI-Assistenz zur roboterunterstützten Aufklärung und Abwehr akuter radiologischer Gefahrenlagen (KIARA) - Teilvorhaben: Modellierung und Erkundung des Einsatzgebietes, Ausgestaltung der KI-Assistenz sowie juristische Aspekte des Technologieeinsatzes, Kompetenzzentrum: Etablierung des Deutschen Rettungsrobotik-Zentrums (DRZ) - Teilvorhaben: Stärkung der Fähigkeiten von Bodenrobotern zur Erweiterung der Reaktionskompetenz der Einsatzkräfte
OpenAlex ID: W4405786456