TY - GEN
T1 - Day and Night Collaborative Dynamic Mapping in Unstructured Environment Based on Multimodal Sensors
AU - Yue, Yufeng
AU - Yang, Chule
AU - Zhang, Jun
AU - Wen, Mingxing
AU - Wu, Zhenyu
AU - Zhang, Haoyuan
AU - Wang, Danwei
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Enabling long-term operation during day and night for collaborative robots requires a comprehensive understanding of the unstructured environment. Besides, in the dynamic environment, robots must be able to recognize dynamic objects and collaboratively build a global map. This paper proposes a novel approach for dynamic collaborative mapping based on multimodal environmental perception. For each mission, robots first apply heterogeneous sensor fusion model to detect humans and separate them to acquire static observations. Then, the collaborative mapping is performed to estimate the relative position between robots and local 3D maps are integrated into a globally consistent 3D map. The experiment is conducted in the day and night rainforest with moving people. The results show the accuracy, robustness, and versatility in 3D map fusion missions.
AB - Enabling long-term operation during day and night for collaborative robots requires a comprehensive understanding of the unstructured environment. Besides, in the dynamic environment, robots must be able to recognize dynamic objects and collaboratively build a global map. This paper proposes a novel approach for dynamic collaborative mapping based on multimodal environmental perception. For each mission, robots first apply heterogeneous sensor fusion model to detect humans and separate them to acquire static observations. Then, the collaborative mapping is performed to estimate the relative position between robots and local 3D maps are integrated into a globally consistent 3D map. The experiment is conducted in the day and night rainforest with moving people. The results show the accuracy, robustness, and versatility in 3D map fusion missions.
UR - http://www.scopus.com/inward/record.url?scp=85092716585&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9197072
DO - 10.1109/ICRA40945.2020.9197072
M3 - Conference contribution
AN - SCOPUS:85092716585
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2981
EP - 2987
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -