Point cloud obstacle detection with the map filtration
<|reference_start|>Point cloud obstacle detection with the map filtration: Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this data, obstacles can be found and recorded on a map. For this task, I present a pipeline capable of detecting obstacles even on a computationally limited device. The pipeline was also tested on a real robot and qualitatively evaluated on a dataset, which was collected in Brno University of Technology lab. Time consumption was recorded and compared with 3D object detectors.<|reference_end|>
@article{kratochvila2024point,
    title={Point cloud obstacle detection with the map filtration},
    author={Lukas Kratochvila},
    journal={Proceedings I of the 29 th Conference STUDENT EEICT 2023 455-459;
  ISBN 978-80-214-6153-6},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.07730},
    primaryClass={cs.RO}
}