Improved Dynamic Obstacle Mapping (iDOMap)

Abstract

The goal of this paper is to improve our previous Dynamic Obstacle Mapping (DOMap) system by means of improving the perception stage. The new system must deal with robots and people as dynamic obstacles using LIght Detection And Range (LIDAR) sensor in order to collect the surrounding information. Although robot movement can be easily tracked by an Extended Kalman Filter (EKF), people’s movement is more unpredictable and it might not be correctly linearized by an EKF. Therefore, to deal with a better estimation of both types of dynamic objects in the local map it is recommended to improve our previous work. The DOMap has been extended in three key points: first the LIDAR reflectivity remission is used to make more robust the matching in the optical flow of the detection stage, secondly static and a dynamic occlusion detectors have been proposed, and finally a tracking stage based on Particle Filter (PF) has been used to deal with robots and people as dynamic obstacles. Therefore, our new improved-DOMap (iDOMap) provides maps with information about occupancy and velocities of the surrounding dynamic obstacles (robots, people, etc.) in a more robust way and they are available to improve the following planning stage.

Sensors for Road Vehicles of the Future

“…Additionally, with a focus on pedestrians, but not limited to them, Ref. [ 8 ] tries to enhance a Dynamic Obstacle Mapping system by means of improving the perception stage, especially due to the fact that people’s movements are more unpredictable. The extension relies on three key points: LIDAR reflectivity, static and dynamic occlusion detectors, and a tracking stage based on a particle filter.…”