2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map

• In this paper, we propose a novel sub-pixel motion extraction method, called as Two Dimensional Spatial Keystone Transform (2DS-KST), for the motion detection and estimation from successive noisy Occupancy Grid Maps (OGMs). It extends the KST in radar imaging or motion compensation to 2D real spatial case, based on multiple hypotheses about possible directions of moving obstacles. Simulation results show that 2DS-KST has a good performance on the extraction of sub-pixel motions in very noisy environment, especially for those slowly moving obstacles.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Nyckelord

robotics

occupancy grid map

motion extraction

keystone transform

2DS-KST

sub-pixel

Computer Science

Datavetenskap

Publikations- och innehållstyp

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