Abstract
Autonomous vehicles (AV) are one of the greatest technological advancements of this decade and a giant leap in the transportation industry and mobile robotics. Autonomous vehicles face several major challenges in achieving higher levels of autonomy. One of these is to find a fast and reliable algorithm to process the sensor data so that the simultaneous localization and mapping (SLAM) algorithms run in real-time to achieve autonomous navigation. The major limitation of the SLAM algorithm, especially while building a map is to have static environmental features, i.e. without any dynamic or moving objects. To achieve this, our paper introduces a novel algorithm to remove dynamic objects from point cloud data. The algorithm focuses on identifying and removing dynamic objects from sensor data, thereby creating a static scene suitable for traditional SLAM algorithms. Simulations conducted on the benchmark dataset demonstrate the algorithm's efficacy in successfully eliminating dynamic objects and reconstructing a stable static scene.
Original language | English |
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Title of host publication | Proceedings of the 2023 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI) |
Place of Publication | Piscataway |
Publisher | IEEE |
Number of pages | 8 |
ISBN (Electronic) | 979-8-3503-9600-3 |
ISBN (Print) | 979-8-3503-9601-0 |
DOIs | |
Publication status | Published - 2023 |
Event | 2023 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI) - , Singapore Duration: 11 Dec 2023 → 13 Dec 2023 |
Publication series
Name | Proceedings of the 17th IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2023 |
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Conference
Conference | 2023 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI) |
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Country/Territory | Singapore |
Period | 11/12/23 → 13/12/23 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Keywords
- point clouds
- autonomous vehicles
- object removal
- reconstruction
- SLAM
- LiDAR
- mobile robots