ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917795786129408 |
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| author | Terenzi, Lorenzo Nubert, Julian Eyschen, Pol Roth, Pascal Fei, Simin Jelavic, Edo Hutter, Marco |
| author_facet | Terenzi, Lorenzo Nubert, Julian Eyschen, Pol Roth, Pascal Fei, Simin Jelavic, Edo Hutter, Marco |
| contents | Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding solution designed to handle the complexities of such environments by integrating 2D panoptic segmentation with 3D LiDAR mapping. Our system generates detailed environmental representations in real-time by combining semantic and geometric data, supported by Kalman Filter-based tracking for dynamic object detection. We introduce a fine-tuning method that adapts large pre-trained panoptic segmentation models for construction site applications using a limited number of domain-specific samples. For this use case, we release a first-of-its-kind dataset of 502 hand-labeled sample images with panoptic annotations from construction sites. In addition, we propose a dynamic panoptic mapping technique that enhances scene understanding in unstructured environments. As a case study, we demonstrate the system's application for autonomous navigation, utilizing real-time RRT* for reactive path planning in dynamic scenarios. The dataset (https://leggedrobotics.github.io/panoptic-scene-understanding.github.io/) and code (https://github.com/leggedrobotics/rsl_panoptic_mapping) for training and deployment are publicly available to support future research. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_04250 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments Terenzi, Lorenzo Nubert, Julian Eyschen, Pol Roth, Pascal Fei, Simin Jelavic, Edo Hutter, Marco Robotics Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding solution designed to handle the complexities of such environments by integrating 2D panoptic segmentation with 3D LiDAR mapping. Our system generates detailed environmental representations in real-time by combining semantic and geometric data, supported by Kalman Filter-based tracking for dynamic object detection. We introduce a fine-tuning method that adapts large pre-trained panoptic segmentation models for construction site applications using a limited number of domain-specific samples. For this use case, we release a first-of-its-kind dataset of 502 hand-labeled sample images with panoptic annotations from construction sites. In addition, we propose a dynamic panoptic mapping technique that enhances scene understanding in unstructured environments. As a case study, we demonstrate the system's application for autonomous navigation, utilizing real-time RRT* for reactive path planning in dynamic scenarios. The dataset (https://leggedrobotics.github.io/panoptic-scene-understanding.github.io/) and code (https://github.com/leggedrobotics/rsl_panoptic_mapping) for training and deployment are publicly available to support future research. |
| title | ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.04250 |