DynamicFilter: an Online Dynamic Objects Removal Framework for Highly Dynamic Environments

被引：12
|
作者：
Fan, Tingxiang [1 ]
Shen, Bowen [2 ]
Chen, Hua [2 ]
Zhang, Wei [2 ]
Pan, Jia [1 ]
机构：
[1] Univ Hong Kong, Hong Kong, Peoples R China
[2] Southern Univ Sci & Technol, Shenzhen, Peoples R China
来源：
2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA 2022 | 2022年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/ICRA46639.2022.9812356
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Emergence of massive dynamic objects will diversify spatial structures when robots navigate in urban environments. Therefore, the online removal of dynamic objects is critical. In this paper, we introduce a novel online removal framework for highly dynamic urban environments. The framework consists of the scan-to-map front-end and the map-to-map back-end modules. Both the front- and back-ends deeply integrate the visibility-based approach and map-based approach. The experiments validate the framework in highly dynamic simulation scenarios and real-world dataset.
引用
收藏
页码：7988 / 7994
页数：7
相关论文
共 50 条
  • [41] Mobile active objects for highly dynamic distributed computing
    DEIS, University of Calabria, Rende
    CS
    87030, Italy
    不详
    82100, Italy
    Proceedings - International Parallel and Distributed Processing Symposium, IPDPS 2002, 2002,
  • [42] Detection and segmentation of moving objects in highly dynamic scenes
    Bugeau, Aurelie
    Perez, Patrick
    2007 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, VOLS 1-8, 2007, : 2102 - +
  • [43] Dynamic Categorization Enhancement Framework of Heterogeneous Data Objects
    Moniruzzaman, A. B. M.
    2021 IEEE 25TH INTERNATIONAL ENTERPRISE DISTRIBUTED OBJECT COMPUTING CONFERENCE WORKSHOPS (EDOCW 2021), 2021, : 356 - 359
  • [44] Online Learning Classifiers in Dynamic Environments with Incomplete Feedback
    Behdad, Mohammad
    French, Tim
    2013 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2013, : 1786 - 1793
  • [45] Instance Selection for Online Updating in Dynamic Recommender Environments
    Thanthriwatta, Thilina
    Rosenblum, David S.
    ADVANCES IN KNOWLEDGE DISCOVERY AND DATA MINING, PAKDD 2021, PT II, 2021, 12713 : 612 - 624
  • [46] Dynamic Objects Detection Based on Stereo Visual-System in Highly Dynamic Environment
    He, Jia
    Zhai, Yanwu
    Feng, Haibo
    Zhang, Songyuan
    Fu, Yili
    2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2019, : 2336 - 2341
  • [47] Online aggregation with tight error bounds in dynamic environments
    Chun, Seok-Ju
    Lee, Ju-Hong
    Lee, Seok-Lyong
    INFORMATION AND SOFTWARE TECHNOLOGY, 2006, 48 (09) : 869 - 875
  • [48] Incremental RANSAC for online relocation in large dynamic environments
    Tanaka, Kanji
    Kondo, Eiji
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 68 - +
  • [49] Online Learning in Estimation of Distribution Algorithms for Dynamic Environments
    Goncalves, Andre R.
    Von Zuben, Fernando J.
    2011 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2011, : 62 - 69
  • [50] Online Area Covering Robot in Unknown Dynamic Environments
    Saha, Olimpiya
    Ren, Guohua
    Heydari, Javad
    Ganapathy, Viswanath
    Shah, Mohak
    2021 7TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA 2021), 2021, : 38 - 42
12345