Detection of dynamic objects in the SLAM algorithm
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Hello!
I would like to solve the detection of dynamic objects in the map during SLAM. I use the lidarSLAM() object to create the map. I have not read anywhere that this algorithm is used in the addScan(slamObj, scans {i}); function directly used. Could you recommend me how to solve it or direct me? By dynamic object I mean, for example, a human moving around a mapping robot during mapping
Thanks
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Sandip Kumar
2021년 8월 26일
During performing SLAM, ones aim is to build a map of the environment. Dynamic objects should be filtered out from the SLAM map.
The algorithm implemented in lidarSLAM(...) ensures that unless you see a particular location as occupied for multiple steps of addScan, it will not be be registered to be a occupied cell in the map. So in case of dynamic objects, as they keep moving, they do not usually interfere with the actual map creation problem. Sometimes if the robot (which is generating the scans) is moving faster than the dynamic object, then there might be false occupied cells in the map.
Let us know if you need further clarification.
답변 (1개)
sparsh garg
2021년 8월 27일
Hey michael you can look into DynaSlam,there is a lot of research work being done in this field
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sparsh garg
2021년 8월 27일
you can look at iros workshops I am not sure of the correct name,but there are some examples which focus on this
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