期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 7, 期 4, 页码 12443-12450出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3219018
关键词
Data sets for SLAM; mapping; visual-inertial SLAM
类别
资金
- National Natural Science Foundation of China [U20A20334, U19B2019, M-0248]
- Tsinghua-Meituan Joint Institute for Digital Life, Tsinghua EE Independent Research Project
- Beijing National Research Center for Information Science and Technology (BNRist)
- Beijing Innovation Center for Future Chips
This paper proposes a novel framework using low-cost sensors and algorithms to detect changes in a point cloud map, and creates a corresponding dataset and metrics for evaluation. Experiments show that the framework can effectively detect changes in the dataset.
Localization and navigation are basic robotic tasks requiring an accurate and up-to-date map to finish these tasks, with crowdsourced data to detect map changes posing an appealing solution. Collecting and processing crowdsourced data requires low-cost sensors and algorithms, but existing methods rely on expensive sensors or computationally expensive algorithms. Additionally, there is no existing dataset to evaluate point cloud change detection. Thus, this paper proposes a novel framework using low-cost sensors like stereo cameras and IMU to detect changes in a point cloud map. Moreover, we create a dataset and the corresponding metrics to evaluate point cloud change detection with the help of the high-fidelity simulator Unreal Engine 4. Experiments show that our visual-based framework can effectively detect the changes in our dataset.
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