BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps
Fuente:
arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866916243369361408 |
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| author | Jia, Mingkai Zhang, Qingwen Yang, Bowen Wu, Jin Liu, Ming Jensfelt, Patric |
| author_facet | Jia, Mingkai Zhang, Qingwen Yang, Bowen Wu, Jin Liu, Ming Jensfelt, Patric |
| contents | Global point clouds that correctly represent the static environment features can facilitate accurate localization and robust path planning. However, dynamic objects introduce undesired ghost tracks that are mixed up with the static environment. Existing dynamic removal methods normally fail to balance the performance in computational efficiency and accuracy. In response, we present BeautyMap to efficiently remove the dynamic points while retaining static features for high-fidelity global maps. Our approach utilizes a binary-encoded matrix to efficiently extract the environment features. With a bit-wise comparison between matrices of each frame and the corresponding map region, we can extract potential dynamic regions. Then we use coarse to fine hierarchical segmentation of the $z$-axis to handle terrain variations. The final static restoration module accounts for the range-visibility of each single scan and protects static points out of sight. Comparative experiments underscore BeautyMap's superior performance in both accuracy and efficiency against other dynamic points removal methods. The code is open-sourced at https://github.com/MKJia/BeautyMap. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_07283 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps Jia, Mingkai Zhang, Qingwen Yang, Bowen Wu, Jin Liu, Ming Jensfelt, Patric Robotics Computer Vision and Pattern Recognition Global point clouds that correctly represent the static environment features can facilitate accurate localization and robust path planning. However, dynamic objects introduce undesired ghost tracks that are mixed up with the static environment. Existing dynamic removal methods normally fail to balance the performance in computational efficiency and accuracy. In response, we present BeautyMap to efficiently remove the dynamic points while retaining static features for high-fidelity global maps. Our approach utilizes a binary-encoded matrix to efficiently extract the environment features. With a bit-wise comparison between matrices of each frame and the corresponding map region, we can extract potential dynamic regions. Then we use coarse to fine hierarchical segmentation of the $z$-axis to handle terrain variations. The final static restoration module accounts for the range-visibility of each single scan and protects static points out of sight. Comparative experiments underscore BeautyMap's superior performance in both accuracy and efficiency against other dynamic points removal methods. The code is open-sourced at https://github.com/MKJia/BeautyMap. |
| title | BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2405.07283 |