LiSTA: geometric object-based change detection in cluttered environments
We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system, including construction, robotic navigation, long-term autonomy, and environmental monitoring. We focus on the semi-stat...
| Main Authors: | , , |
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| Format: | Conference item |
| Language: | English |
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IEEE
2024
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| _version_ | 1817931053519601664 |
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| author | Rowell, J Zhang, L Fallon, M |
| author_facet | Rowell, J Zhang, L Fallon, M |
| author_sort | Rowell, J |
| collection | OXFORD |
| description | We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system, including construction, robotic navigation, long-term autonomy, and environmental monitoring. We focus on the semi-static scenario where objects are added, subtracted, or changed in position over weeks or months. Our system combines multi-mission LiDAR SLAM, volumetric differencing, object instance description, and correspondence grouping using learned descriptors to keep track of an open set of objects. Object correspondences between missions are determined by clustering the object’s learned descriptors. We demonstrate our approach using datasets collected in a simulated environment and a real-world dataset captured using a LiDAR system mounted on a quadruped robot monitoring an industrial facility containing static, semi-static, and dynamic objects. Our method demonstrates superior performance in detecting changes in semi-static environments compared to existing methods. |
| first_indexed | 2024-04-09T03:54:23Z |
| format | Conference item |
| id | oxford-uuid:2d8c9c74-d6de-4931-b9be-8ffedf790bb0 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-12-09T03:15:54Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:2d8c9c74-d6de-4931-b9be-8ffedf790bb02024-10-21T11:36:20ZLiSTA: geometric object-based change detection in cluttered environmentsConference itemhttp://purl.org/coar/resource_type/c_5794uuid:2d8c9c74-d6de-4931-b9be-8ffedf790bb0EnglishSymplectic ElementsIEEE2024Rowell, JZhang, LFallon, MWe present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system, including construction, robotic navigation, long-term autonomy, and environmental monitoring. We focus on the semi-static scenario where objects are added, subtracted, or changed in position over weeks or months. Our system combines multi-mission LiDAR SLAM, volumetric differencing, object instance description, and correspondence grouping using learned descriptors to keep track of an open set of objects. Object correspondences between missions are determined by clustering the object’s learned descriptors. We demonstrate our approach using datasets collected in a simulated environment and a real-world dataset captured using a LiDAR system mounted on a quadruped robot monitoring an industrial facility containing static, semi-static, and dynamic objects. Our method demonstrates superior performance in detecting changes in semi-static environments compared to existing methods. |
| spellingShingle | Rowell, J Zhang, L Fallon, M LiSTA: geometric object-based change detection in cluttered environments |
| title | LiSTA: geometric object-based change detection in cluttered environments |
| title_full | LiSTA: geometric object-based change detection in cluttered environments |
| title_fullStr | LiSTA: geometric object-based change detection in cluttered environments |
| title_full_unstemmed | LiSTA: geometric object-based change detection in cluttered environments |
| title_short | LiSTA: geometric object-based change detection in cluttered environments |
| title_sort | lista geometric object based change detection in cluttered environments |
| work_keys_str_mv | AT rowellj listageometricobjectbasedchangedetectioninclutteredenvironments AT zhangl listageometricobjectbasedchangedetectioninclutteredenvironments AT fallonm listageometricobjectbasedchangedetectioninclutteredenvironments |