Dynamic Obstacles Rejection for 3D Map Simultaneous Updating

Dynamic Obstacles Rejection for 3D Map Simultaneous Updating

We present a simple yet highly efficient method to eliminate spurious trails of dynamic objects for 3-D point cloud map updating. First, we extract the view overlaps based on view frustum filter. Then, we obtain spurious trails via bidirectional searching of view overlaps using a KD tree. Finally, i...

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Bibliographic Details
Main Authors: Wenjun Shi, Jiamao Li, Yanqing Liu, Dongchen Zhu, Dongdong Yang, Xiaolin Zhang
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
View frustum culling
3D map updating
dynamic
spurious trails
ray tracing
obstacles avoidance
Online Access:https://ieeexplore.ieee.org/document/8358699/

Internet

https://ieeexplore.ieee.org/document/8358699/

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