A Method for Detecting Dynamic Objects Using 2D LiDAR Based on Scan Matching

Mihálik, Michal; Hruboš, Marián; Vestenický, Peter; Holečko, Peter; Nemec, Dušan; Malobický, Branislav; Mihálik, Ján

doi:10.3390/app12115641

Cited by 5 publications

(3 citation statements)

References 22 publications

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“…However, the proposed method is incapable of detecting the static or dynamic nature of the first detected obstacle. This technique is also known as scan-matching that compares two consecutive scans after best alignment [ 41 , 42 ]. Another work characterizing the nature of objects as a separate static map and a dynamic map is reported in [ 43 ].…”

Section: Literature Reviewmentioning

confidence: 99%

A featureless approach for object detection and tracking in dynamic environments

et al. 2023

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One of the challenging problems in mobile robotics is mapping a dynamic environment for navigating robots. In order to disambiguate multiple moving obstacles, state-of-art techniques often solve some form of dynamic SLAM (Simultaneous Localization and Mapping) problem. Unfortunately, their higher computational complexity press the need for simpler and more efficient approaches suitable for real-time embedded systems. In this paper, we present a ROS-based efficient algorithm for constructing dynamic maps, which exploits the spatial-temporal locality for detecting and tracking moving objects without relying on prior knowledge of their geometrical features. A two-prong contribution of this work is as follows: first, an efficient scheme for decoding sensory data into an estimated time-varying object boundary that ultimately decides its orientation and trajectory based on the iteratively updated robot Field of View (FoV); second, lower time-complexity of updating the dynamic environment through manipulating spatial-temporal locality available in the object motion profile. Unlike existing approaches, the snapshots of the environment remain constant in the number of moving objects. We validate the efficacy of our algorithm on both V-Rep simulations and real-life experiments with a wide array of dynamic environments. We show that the algorithm accurately detects and tracks objects with a high probability as long as sensor noise is low and the speed of moving objects remains within acceptable limits.

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Section: Literature Reviewmentioning

confidence: 99%

A featureless approach for object detection and tracking in dynamic environments

et al. 2023

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“…Losing orientation in vast underground complexes is often harmful to health. One of the solutions to more effectively use the spaces not only of the Čachtice underground is its digital projection or spatial orientation [16]. We expect that digital projection is only one step in the digital age.…”

Section: Stability Of the čAchtice Underground In Sectionsmentioning

confidence: 99%

Stability of the Čachtice Underground Corridors

Bulko

Mužík

Gwóźdź-Lasoń

et al. 2023

Civil and Environmental Engineering

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At the beginning of the 16th century, the original inhabitants of Čachtice built a large complex of tunnels and cellars under the village, today called the Čachtice underground. The underground protected people from war conflicts, most recently during World War II, as anti-aircraft shelters. Over time, the underground lost its significance. The corridors were walled up, covered with rubble, and collapsed due to construction work. Later, a part of the underground was repaired, and historical events occurred in such a preserved part. Due to a lawsuit, the Čachtice underground was eventually closed to the public, and it was necessary to test the stability of the walls of the Čachtice underground. A 3D model of the underground was created, and three areas were identified in which numerical calculations were performed in Plaxis 2D software. The whole underground is located in loess soil. The Čachtice underground is stable if the conditions do not change diametrically. The calculated factors of safety support this assumption.

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“…The LIDAR sensor has been included in the test due to its high precision and long detection range [ 48 , 49 , 50 , 51 , 52 ]. Based on these unique features, LIDAR sensors are widely used in automotive applications, being one of the most advanced solutions used for object identification and localization [ 48 , 49 , 50 , 51 , 52 ]. The LIDAR V3 sensor has a range of up to 40 m while providing a centimeter accuracy, (i.e., less than ±10 cm).…”

Section: Design and Implementation Of The Pedestrian Crosswalk Assist...mentioning

confidence: 99%

Design, Implementation and Experimental Investigation of a Pedestrian Street Crossing Assistance System Based on Visible Light Communications

Căilean

Beguni

Avatamanitei

et al. 2022

Sensors

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In urban areas, pedestrians are the road users category that is the most exposed to road accident fatalities. In this context, the present article proposes a totally new architecture, which aims to increase the safety of pedestrians on the crosswalk. The first component of the design is a pedestrian detection system, which identifies the user’s presence in the region of the crosswalk and determines the future street crossing action possibility or the presence of a pedestrian engaged in street crossing. The second component of the system is the visible light communications part, which is used to transmit this information toward the approaching vehicles. The proposed architecture has been implemented at a regular scale and experimentally evaluated in outdoor conditions. The experimental results showed a 100% overall pedestrian detection rate. On the other hand, the VLC system showed a communication distance between 5 and 40 m when using a standard LED light crosswalk sign as a VLC emitter, while maintaining a bit error ratio between 10−7 and 10−5. These results demonstrate the fact that the VLC technology is now able to be used in real applications, making the transition from a high potential technology to a confirmed technology. As far as we know, this is the first article presenting such a pedestrian street crossing assistance system.

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A Method for Detecting Dynamic Objects Using 2D LiDAR Based on Scan Matching

Cited by 5 publications

References 22 publications

A featureless approach for object detection and tracking in dynamic environments

A featureless approach for object detection and tracking in dynamic environments

Stability of the Čachtice Underground Corridors

Design, Implementation and Experimental Investigation of a Pedestrian Street Crossing Assistance System Based on Visible Light Communications

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