Publication detail

Point cloud obstacle detection with the map filtration

KRATOCHVÍLA, L.

Original Title

Point cloud obstacle detection with the map filtration

Type

article in a collection out of WoS and Scopus

Language

English

Original Abstract

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.

Keywords

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

Authors

KRATOCHVÍLA, L.

Released

25. 4. 2023

Publisher

Brno University of Technology, Faculty of Electrical Engineering and Communication

Location

Brno

ISBN

978-80-214-6153-6

Book

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

Edition

1

Pages from

455

Pages to

459

Pages count

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"
}