实时重建动态物体，支持导航的高效系统
DynORecon: Dynamic Object Reconstruction for Navigation
- 利用动态SLAM运动估计，持续优化动态物体表示
- 实测重建精度达10厘米，处理速度达20帧/秒
- 适合自动驾驶与机器人导航场景
本文提出DynORecon，一种基于动态SLAM信息的动态物体重建系统。该系统在生成观测到的移动物体体素地图的同时，估算自由空间以支持导航。通过利用动态SLAM提供的运动估计，DynORecon持续优化动态物体表示，消除历史观测残留伪影，并增量式重建每个物体，无缝融合新观测以捕捉先前未见结构。系统在模拟和真实室外数据集上均表现出高效率（约20 FPS）和高精度（约10厘米）的动态物体重建能力。
原文摘要 · Abstract (English)
This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observed moving entities while estimating free space to support navigation. By capitalising on the motion estimations provided by Dynamic SLAM, DynORecon continuously refines the representation of dynamic objects to eliminate residual artefacts from past observations and incrementally reconstructs each object, seamlessly integrating new observations to capture previously unseen structures. Our system is highly efficient (~20 FPS) and produces accurate (~10 cm) reconstructions of dynamic objects using simulated and real-world outdoor datasets.
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