Detail publikace

Point cloud obstacle detection with the map filtration

KRATOCHVÍLA, L.

Originální název

Point cloud obstacle detection with the map filtration

Typ

článek ve sborníku mimo WoS a Scopus

Jazyk

angličtina

Originální abstrakt

Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this data, obstacles can be found and recorded on a map. For this task, I present a pipeline capable of detecting obstacles even on a computationally limited device. The pipeline was also tested on a real robot and qualitatively evaluated on a dataset, which was collected in Brno University of Technology lab. Time consumption was recorded and compared with 3D object detectors.

Klíčová slova

3D point cloud, obstacle detection, robot, environment map, LiDAR

Autoři

KRATOCHVÍLA, L.

Vydáno

25. 4. 2023

Nakladatel

Brno University of Technology, Faculty of Electrical Engineering and Communication

Místo

Brno

ISBN

978-80-214-6153-6

Kniha

Proceedings I of the 29th Conference STUDENT EEICT 2023 General papers

Edice

1

Strany od

455

Strany do

459

Strany počet

5

URL

https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_1.pdf

BibTex

@inproceedings{BUT183869,
  author="Lukáš {Kratochvíla}",
  title="Point cloud obstacle detection with the map filtration",
  booktitle="Proceedings I of the 29th Conference STUDENT EEICT 2023 General papers",
  year="2023",
  series="1",
  pages="455--459",
  publisher="Brno University of Technology, Faculty of Electrical Engineering and Communication",
  address="Brno",
  isbn="978-80-214-6153-6",
  url="https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_1.pdf"
}