Related papers: DynamicFilter: an Online Dynamic Objects Removal F…
In the process of urban environment mapping, the sequential accumulations of dynamic objects will leave a large number of traces in the map. These traces will usually have bad influences on the localization accuracy and navigation…
Online map construction is essential for autonomous robots to navigate in unknown environments. However, the presence of dynamic objects may introduce artifacts into the map, which can significantly degrade the performance of localization…
Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from achieving accurate localization and effective navigation.…
Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based approach for robust moving object detection in complex…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Consider a set of images of a scene consisting of moving objects captured using a hand-held camera. In this work, we propose an algorithm which takes this set of multi-view images as input, detects the dynamic objects present in the scene,…
This research paper focuses on the problem of dynamic objects and their impact on effective motion planning and localization. The paper proposes a two-step process to address this challenge, which involves finding the dynamic objects in the…
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their…
We introduce a generic framework that reduces the computational cost of object detection while retaining accuracy for scenarios where objects with varied sizes appear in high resolution images. Detection progresses in a coarse-to-fine…
In this paper we present a data-driven approach to obtain the static image of a scene, eliminating dynamic objects that might have been present at the time of traversing the scene with a camera. The general objective is to improve…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
To operate in an urban environment, an automated vehicle must be capable of accurately estimating its position within a global map reference frame. This is necessary for optimal path planning and safe navigation. To accomplish this over an…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…
We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…