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Detect moving obstacles for navigation

Hello,

I am currently using a Kinectv2 with rtabmap_ros to create a 3D and a 2D projected map of the surroundings. I then navigate through the static surrounding with the 2D projected map and the navigation stack of ROS.

Now I want to detect moving obstacles on this map, estimate their velocities and predict and avoid possible collisions in the future. My first attempt was to calculate the opticalflow with the opencvapps package of the 2D projected map. But the resolution is not good enough for the optical flow to work reliable. My idea is to calculate the optical flow directly on the output image of the kinect camera and transform it to my map coordinate frame. But i am stuck here with several problems:

I would appreciate any help or opinions on my thoughts. If anyone has a better idea to solve this problem, let me now! Thanks in advance,

Sven

Asked by svenbob on 2016-08-16 04:24:21 UTC

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Did you find an answer to this? I am looking into similar questions. Thanks!

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