Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking
Youngjae Min Do-Un Kim Han-Lim Choi Youngjae Min Do-Un Kim Han-Lim Choi
Mapping three-dimensional (3-D) dynamic environments is essential for aerial robots but challenging to consider the increased dimensions in both space and time compared to 2-D static mapping. This paper presents a kernel-based 3-D dynamic occupancy mapping algorithm, K3DOM, that distinguishes between static and dynamic objects while estimating the velocities of dynamic cells via particle tracking....