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Applying 3D Object Detection from Self-Driving Cars to Mobile Robots: A Survey and Experiments
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-3432-6151
KTH.
KTH.
Hamburg Univ Technol, Hamburg, Germany..
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2023 (English)In: 2023 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC / [ed] Lopes, AC Pires, G Pinto, VH Lima, JL Fonseca, P, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 3-9Conference paper, Published paper (Refereed)
Abstract [en]

3D object detection is crucial for the safety and reliability of mobile robots. Mobile robots must understand dynamic environments to operate safely and successfully carry out their tasks. However, most of the open-source datasets and methods are built for autonomous driving. In this paper, we present a detailed review of available 3D object detection methods, focusing on the ones that could be easily adapted and used on mobile robots. We show that the methods do not perform well if used off-the-shelf on mobile robots or are too computationally expensive to run on mobile robotic platforms. Therefore, we propose a domain adaptation approach to use publicly available data to retrain the perception modules of mobile robots, resulting in higher performance. Finally, we run the tests on the real-world robot and provide data for testing our approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. p. 3-9
Series
IEEE International Conference on Autonomous Robot Systems and Competitions ICARSC, ISSN 2573-9360
Keywords [en]
perception, mobile robots, object detection
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-333736DOI: 10.1109/ICARSC58346.2023.10129637ISI: 001011040500003Scopus ID: 2-s2.0-85161974029OAI: oai:DiVA.org:kth-333736DiVA, id: diva2:1786895
Conference
IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), APR 26-27, 2023, Tomar, PORTUGAL
Note

QC 20230810

Available from: 2023-08-10 Created: 2023-08-10 Last updated: 2023-08-10Bibliographically approved

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Wozniak, Maciej K.Kårefjärd, ViktorHansson, MattiasJensfelt, Patric

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