TY - GEN
T1 - Improvement of 3D-SLAM Accuracy by Removing Moving Objects on 3D-LiDAR Point Cloud Using Image Recognition in Web Camera
AU - Konno, Jun
AU - Ando, Yoshinobu
N1 - Publisher Copyright:
© 2022 ICROS.
PY - 2022
Y1 - 2022
N2 - In recent years, robots have been developed that can move autonomously in human environments such as restaurants and airports. For such autonomous mobility, it is important to create a map in advance, and a typical example is Simultaneous Localization and Mapping (SLAM). We created a 3D perception filter that is capable of detecting and eliminating moving point clusters from the input point cloud taken in an indoor environment. In this study, we propose a system that detects moving objects based on camera image recognition and uses the results to construct a more accurate map by minimizing the influence of pedestrians.
AB - In recent years, robots have been developed that can move autonomously in human environments such as restaurants and airports. For such autonomous mobility, it is important to create a map in advance, and a typical example is Simultaneous Localization and Mapping (SLAM). We created a 3D perception filter that is capable of detecting and eliminating moving point clusters from the input point cloud taken in an indoor environment. In this study, we propose a system that detects moving objects based on camera image recognition and uses the results to construct a more accurate map by minimizing the influence of pedestrians.
KW - 3D SLAM
KW - Dynamic objects
KW - Object recognition.
UR - http://www.scopus.com/inward/record.url?scp=85146601719&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85146601719&partnerID=8YFLogxK
U2 - 10.23919/ICCAS55662.2022.10003848
DO - 10.23919/ICCAS55662.2022.10003848
M3 - Conference contribution
AN - SCOPUS:85146601719
T3 - International Conference on Control, Automation and Systems
SP - 527
EP - 531
BT - 2022 22nd International Conference on Control, Automation and Systems, ICCAS 2022
PB - IEEE Computer Society
T2 - 22nd International Conference on Control, Automation and Systems, ICCAS 2022
Y2 - 27 November 2022 through 1 December 2022
ER -