Multilayer occupancy grid for obstacle avoidance in an autonomous ground vehicle using RGB-D camera

2024/11/19 by Gallego, Jhair S., Ramirez, Ricardo E.
#FOS: Computer and information sciences #Robotics (cs.RO)

paper · doi:10.48550/arxiv.2411.12535

Abstract

This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by expanding its two-dimensional field of view, based on 2D LIDAR, to a three-dimensional perception system using an RGB-D camera. This approach lays the foundation for a robust vision-based navigation and obstacle detection system. A theoretical review is presented and implementation results are discussed for future work.

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