e-journal

Spatial Density Patterns for Efficient Change Detection in 3D Environment for Autonomous Surveillance Robots

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The ability to detect changes is an essential competence that robots should possess for increased autonomy. In several applications, such as surveillance, a robot needs to detect relevant changes in the environment by comparing current sensory data with previously acquired information from the environment. We present an efficientmethod for point cloud comparison and change detection in 3D environments based on spatial density patterns. Our method automatically segments 3D data corrupted by noise and outliers into an implicit volume bounded by a surface, making it possible to efficiently apply Boolean operations in order to detect changes and to update existing maps. The method has been validated on several trials using mobile robots operating in real environments and its performance was compared to state-of-the-art
algorithms. Our results demonstrate the performance of the proposed method, both in greater accuracy and reduced computational cost.
Note to Practitioners—We present in this paper a technique that will greatly improve the performance, both in time and precision, of change detection in environments. The main motivation was the increasing use of 3D point clouds in mapping and security tasks, where need arises for efficient comparison of two sets. Our representation, based on density calculation and 3D Gaussian smoothing, transforms the raw data into a continuous 3D density field, upon which Boolean operations is used to express the concept
of change detection between the two clouds. Without making any assumptions as to how the data were acquired, our method accomplishes otherwise complex operation in a simple way, leading to both robustness of results and increased computational speed.
Index Terms—Change detection, point cloud, surveillance.

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Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING

No. Panggil

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Penerbit

New York : IEEE., 2014

Deskripsi Fisik

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 11, NO. 3, JULY 2014

Bahasa

English

ISBN/ISSN

1545-5955

Klasifikasi

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Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

VOL. 11, NO. 3, JULY 2014

Subjek

TEKNIK

Info Detail Spesifik

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Pernyataan Tanggungjawab

Yuli/Agus

Versi lain/terkait

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