Spatial change detection using voxel classification by normal distributions transform

Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Detection of spatial change around a robot is indispensable in several robotic applications, such as search and rescue, security, and surveillance. The present paper proposes a fast spatial change detection technique for a mobile robot using an on-board RGB-D/stereo camera and a highly precise 3D map created by a 3D laser scanner. This technique first converts point clouds in a map and measured data to grid data (ND voxels) using normal distributions transform and classifies the ND voxels into three categories. The voxels in the map and the measured data are then compared according to the category and features of the ND voxels. Overlapping and voting techniques are also introduced in order to detect the spatial changes more robustly. We conducted experiments using a mobile robot equipped with real-time range sensors to confirm the performance of the proposed real-time localization and spatial change detection techniques in indoor and outdoor environments.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2953-2959
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - May 1 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Katsura, U., Matsumoto, K., Kawamura, A., Ishigami, T., Okada, T., & Kurazume, R. (2019). Spatial change detection using voxel classification by normal distributions transform. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 2953-2959). [8794173] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794173