We present a real time method for updating a 3D map with dynamic obstacles detection. Moving obstacles are detected through ray-casting on spherical voxelization of point clouds. We evaluate the accuracy of this method on a point cloud dataset, suitably constructed for testing ray-surface intersection under relative motion conditions. Moreover, we show the benefits of the map updating in a real robot equipped with a rotating LIDAR system, navigating in real world scenarios, populated by moving people.
No takes yet. Share an insight, caveat, or question.
Ferri et al. (2015) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: