Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking
Thomas Eppenberger,Gianluca Cesari,Marcin Dymczyk,Roland Siegwart,Renaud Dubé,Thomas Eppenberger,Gianluca Cesari,Marcin Dymczyk,Roland Siegwart,Renaud Dubé
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data generated by stereo cameras. Our solution is real-time capable and specifically designed for the deployment on computationally-constrained unmanned ground vehicles. Th...
