TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction
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Date
2021
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
The ability to simultaneously track and reconstruct multiple objects moving in the scene is of the utmost importance for robotic tasks such as autonomous navigation and interaction. Virtually all of the previous attempts to map multiple dynamic objects have evolved to store individual objects in separate reconstruction volumes and track the relative pose between them. While simple and intuitive, such formulation does not scale well with respect to the number of objects in the scene and introduces the need for an explicit occlusion handling strategy. In contrast, we propose a map representation that allows maintaining a single volume for the entire scene and all the objects therein. To this end, we introduce a novel multi-object TSDF formulation that can encode multiple object surfaces at any given location in the map. In a multiple dynamic object tracking and reconstruction scenario, our representation allows maintaining accurate reconstruction of surfaces even while they become temporarily occluded by other objects moving in their proximity. We evaluate the proposed TSDF++ formulation on a public synthetic dataset and demonstrate its ability to preserve reconstructions of occluded surfaces when compared to the standard TSDF map representation. Code is available at https://github.com/ethz-asl/tsdf-plusplus.
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published
Editor
Book title
2021 IEEE International Conference on Robotics and Automation (ICRA)
Journal / series
Volume
Pages / Article No.
14192 - 14198
Publisher
IEEE
Event
IEEE International Conference on Robotics and Automation (ICRA 2021)
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Software
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Date created
Subject
Organisational unit
03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)
Notes
Conference lecture held on June 3, 2021
Funding
101017008 - Enhancing Healthcare with Assistive Robotic Mobile Manipulation (EC)
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