RGB-Dカメラを用いた自律走行車の多層占有グリッドによる障害物回避
Multilayer occupancy grid for obstacle avoidance in an autonomous ground vehicle using RGB-D camera
RGB-Dカメラを自律走行車のナビゲーションに統合し、2D LIDARベースの視野を3D知覚に拡張する多層コストマップを実装した研究。
著者: Jhair S. Gallego, Ricardo E. Ramirez
分類: cs.RO
原文アブストラクト
This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by expanding its two-dimensional field of view, based on 2D LIDAR, to a three-dimensional perception system using an RGB-D camera. This approach lays the foundation for a robust vision-based navigation and obstacle detection system. A theoretical review is presented and implementation results are discussed for future work.