Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866917878851174400 |
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| author | Xie, Zhixuan Chen, Jianjun Li, Guoliang Wang, Shuai Ye, Kejiang Eldar, Yonina C. Xu, Chengzhong |
| author_facet | Xie, Zhixuan Chen, Jianjun Li, Guoliang Wang, Shuai Ye, Kejiang Eldar, Yonina C. Xu, Chengzhong |
| contents | Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to observe the target at a new viewpoint with potentially reduced occlusion. In contrast to existing MAD approaches that may fail in cluttered environments, the proposed framework is robust in such scenarios, therefore termed clutter resilient occlusion avoidance (CROA). The crux to CROA is to minimize the occlusion probability under polyhedron-based collision avoidance constraints via the convex-concave procedure and duality-based bilevel optimization. The system implementation supports lidar-based MAD with intertwined execution of learning-based detection and optimization-based planning. Experiments show that CROA outperforms various MAD schemes under a sparse convolutional neural network detector, in terms of point density, occlusion ratio, and detection error, in a multi-lane urban driving scenario. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_18453 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection Xie, Zhixuan Chen, Jianjun Li, Guoliang Wang, Shuai Ye, Kejiang Eldar, Yonina C. Xu, Chengzhong Robotics Signal Processing Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to observe the target at a new viewpoint with potentially reduced occlusion. In contrast to existing MAD approaches that may fail in cluttered environments, the proposed framework is robust in such scenarios, therefore termed clutter resilient occlusion avoidance (CROA). The crux to CROA is to minimize the occlusion probability under polyhedron-based collision avoidance constraints via the convex-concave procedure and duality-based bilevel optimization. The system implementation supports lidar-based MAD with intertwined execution of learning-based detection and optimization-based planning. Experiments show that CROA outperforms various MAD schemes under a sparse convolutional neural network detector, in terms of point density, occlusion ratio, and detection error, in a multi-lane urban driving scenario. |
| title | Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection |
| topic | Robotics Signal Processing |
| url | https://arxiv.org/abs/2412.18453 |