تقرير
Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments
| العنوان: | Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments |
|---|---|
| المؤلفون: | Schmid, Lukas, Abate, Marcus, Chang, Yun, Carlone, Luca |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Perceiving and understanding highly dynamic and changing environments is a crucial capability for robot autonomy. While large strides have been made towards developing dynamic SLAM approaches that estimate the robot pose accurately, a lesser emphasis has been put on the construction of dense spatio-temporal representations of the robot environment. A detailed understanding of the scene and its evolution through time is crucial for long-term robot autonomy and essential to tasks that require long-term reasoning, such as operating effectively in environments shared with humans and other agents and thus are subject to short and long-term dynamics. To address this challenge, this work defines the Spatio-temporal Metric-semantic SLAM (SMS) problem, and presents a framework to factorize and solve it efficiently. We show that the proposed factorization suggests a natural organization of a spatio-temporal perception system, where a fast process tracks short-term dynamics in an active temporal window, while a slower process reasons over long-term changes in the environment using a factor graph formulation. We provide an efficient implementation of the proposed spatio-temporal perception approach, that we call Khronos, and show that it unifies exiting interpretations of short-term and long-term dynamics and is able to construct a dense spatio-temporal map in real-time. We provide simulated and real results, showing that the spatio-temporal maps built by Khronos are an accurate reflection of a 3D scene over time and that Khronos outperforms baselines across multiple metrics. We further validate our approach on two heterogeneous robots in challenging, large-scale real-world environments. Comment: Accepted to Robotics: Science and Systems, 2024. Code to be released at https://github.com/MIT-SPARK/Khronos Video available at https://www.youtube.com/watch?v=YsH6YIL5_kc |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2402.13817 |
| رقم الأكسشن: | edsarx.2402.13817 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |