Thesis Details
Detekce pohyblivých objektů v prostředí mobilního robota
This work's aim is movement detection in the environment of a robot, that may move itself. A 2D occupancy grid representation is used, containing only the currently visible environment, without filtering in time. Motion detection is based on a grid-based particle filter introduced by Tanzmeister et al. in Grid-based Mapping and Tracking in Dynamic Environments using a Uniform Evidential Environment Representation. The system was implemented in the Robot Operating System, which allows for re-use of modules which the solution is composed of. The KITTI Visual Odometry dataset was chosen as a source~of LiDAR data for experiments, along with ground-truth pose information. Ground segmentation based on Loopy Belief Propagation was used to filter the point clouds. The implemeted motion detector is able to distiguish between static and dynamic vehicles in this dataset. Further tests in a simulated environment have shown some shortcomings in the detection of large continuous moving objects.
robotics, point cloud, occupancy grid, motion detection, particle filter, ROS
Beran Vítězslav, doc. Ing., Ph.D. (DCGM FIT BUT), člen
Bidlo Michal, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Češka Milan, prof. RNDr., CSc. (DITS FIT BUT), člen
Herout Adam, prof. Ing., Ph.D. (DCGM FIT BUT), člen
Vranić Valentino, doc. Ing., Ph.D. (FIIT STU), člen
@mastersthesis{FITMT19137, author = "Viktor Dorotovi\v{c}", type = "Master's thesis", title = "Detekce pohybliv\'{y}ch objekt\r{u} v prost\v{r}ed\'{i} mobiln\'{i}ho robota", school = "Brno University of Technology, Faculty of Information Technology", year = 2017, location = "Brno, CZ", language = "czech", url = "https://www.fit.vut.cz/study/thesis/19137/" }