论文标题
在城市环境中的遮挡计划
Planning Paths through Occlusions in Urban Environments
论文作者
论文摘要
本文提出了一个新颖的框架，用于在未知和遮挡的城市空间中进行计划。我们特别关注闭塞显着影响导航性的转弯和交叉点。我们的方法使用介质模型来填充稀疏，遮挡的语义激光雷达点云，并计划动态可行的路径，以使车辆穿过开放和覆盖的空间。我们使用带有实时闭合的汽车的LiDAR数据来证明我们的方法，并表明，通过插入遮挡区域，我们可以计划更长的路径，而没有插入的情况，可以使用更多的转弯选项；此外，与其他最先进的方法相比，我们的方法更接近地遵循从没有阻塞（称为地面真理）的计划者中得出的路径。
This paper presents a novel framework for planning in unknown and occluded urban spaces. We specifically focus on turns and intersections where occlusions significantly impact navigability. Our approach uses an inpainting model to fill in a sparse, occluded, semantic lidar point cloud and plans dynamically feasible paths for a vehicle to traverse through the open and inpainted spaces. We demonstrate our approach using a car's lidar data with real-time occlusions, and show that by inpainting occluded areas, we can plan longer paths, with more turn options compared to without inpainting; in addition, our approach more closely follows paths derived from a planner with no occlusions (called the ground truth) compared to other state of the art approaches.
