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A Dynamic Points Removal Benchmark in Point Cloud Maps
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-7882-948X
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-4815-9689
Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China.
Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China.
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2023 (English)In: 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 608-614Conference paper, Published paper (Refereed)
Abstract [en]

In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their performance. Existing methods for removing dynamic points in point clouds often lack clarity in comparative evaluations and comprehensive analysis. Therefore, we propose an easy-to-extend unified benchmarking framework for evaluating techniques for removing dynamic points in maps. It includes refactored state-of-art methods and novel metrics to analyze the limitations of these approaches. This enables researchers to dive deep into the underlying reasons behind these limitations. The benchmark makes use of several datasets with different sensor types. All the code and datasets related to our study are publicly available for further development and utilization.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. p. 608-614
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-344365DOI: 10.1109/ITSC57777.2023.10422094Scopus ID: 2-s2.0-85186537890OAI: oai:DiVA.org:kth-344365DiVA, id: diva2:1844369
Conference
26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023, Bilbao, Spain, Sep 24 2023 - Sep 28 2023
Note

Part of ISBN 9798350399462

QC 20240315

Available from: 2024-03-13 Created: 2024-03-13 Last updated: 2024-03-15Bibliographically approved

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Zhang, QingwenDuberg, DanielJensfelt, Patric

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
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Output format
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  • asciidoc
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