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Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data generated by stereo cameras. Our solution is real-time capable and specifically designed for the deployment on computationally-constrained unmanned ground vehicles. The proposed approach identifies individual ...Conference Paper -
Robot Navigation in Crowded Environments Using Deep Reinforcement Learning
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Mobile robots operating in public environments require the ability to navigate among humans and other obstacles in a socially compliant and safe manner. This work presents a combined imitation learning and deep reinforcement learning approach for motion planning in such crowded and cluttered environments. By separately processing information related to static and dynamic objects, we enable our network to learn motion patterns that are ...Conference Paper