Height Change Feature Based Free Space Detection
S. Schreck, H. Reichert, M. Hetzel, K. Doll, und B. Sick.
International Conference on Control, Mechatronics and Automation (ICCMA), Seite 171--176. IEEE, (2023)

We present a novel method for free space detection in dynamic environments like factory sites, crucial for autonomous forklifts to avoid collisions. It introduces a technique for fast surface normal estimation using spherical projected LiDAR data, which helps in detecting free space efficiently and in real-time. The method's effectiveness is proven with a 50.90% mIoU score on the Semantic KITTI dataset at 105 Hz, and a 63.30% mIoU score on a factory site dataset at 54 Hz.

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@inproceedings{schreck2023height,
  abstract = {We present a novel method for free space detection in dynamic environments like factory sites, crucial for autonomous forklifts to avoid collisions. It introduces a technique for fast surface normal estimation using spherical projected LiDAR data, which helps in detecting free space efficiently and in real-time. The method's effectiveness is proven with a 50.90% mIoU score on the Semantic KITTI dataset at 105 Hz, and a 63.30% mIoU score on a factory site dataset at 54 Hz.},
  added-at = {2024-02-21T16:06:59.000+0100},
  author = {Schreck, Steven and Reichert, Hannes and Hetzel, Manuel and Doll, Konrad and Sick, Bernhard},
  biburl = {https://puma.uni-kassel.de/bibtex/2c68e47214fba4ebbe449b410278ca949/04068750},
  booktitle = {International Conference on Control, Mechatronics and Automation (ICCMA)},
  doi = {10.1109/ICCMA59762.2023.10374705},
  interhash = {d3c0bbf124344c070311798efc0d96cd},
  intrahash = {c68e47214fba4ebbe449b410278ca949},
  keywords = {imported itegpub isac-www},
  pages = {171--176},
  publisher = {IEEE},
  timestamp = {2024-02-21T16:06:59.000+0100},
  title = {Height Change Feature Based Free Space Detection},
  year = 2023
}

%0 Conference Paper
%1 schreck2023height
%A Schreck, Steven
%A Reichert, Hannes
%A Hetzel, Manuel
%A Doll, Konrad
%A Sick, Bernhard
%B International Conference on Control, Mechatronics and Automation (ICCMA)
%D 2023
%I IEEE
%K imported itegpub isac-www
%P 171--176
%R 10.1109/ICCMA59762.2023.10374705
%T Height Change Feature Based Free Space Detection
%X We present a novel method for free space detection in dynamic environments like factory sites, crucial for autonomous forklifts to avoid collisions. It introduces a technique for fast surface normal estimation using spherical projected LiDAR data, which helps in detecting free space efficiently and in real-time. The method's effectiveness is proven with a 50.90% mIoU score on the Semantic KITTI dataset at 105 Hz, and a 63.30% mIoU score on a factory site dataset at 54 Hz.

PUMA

Height Change Feature Based Free Space Detection
S. Schreck, H. Reichert, M. Hetzel, K. Doll, und B. Sick.
International Conference on Control, Mechatronics and Automation (ICCMA), Seite 171--176. IEEE, (2023)

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Height Change Feature Based Free Space DetectionS. Schreck, H. Reichert, M. Hetzel, K. Doll, und B. Sick. International Conference on Control, Mechatronics and Automation (ICCMA), Seite 171--176. IEEE, (2023)

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Height Change Feature Based Free Space Detection
S. Schreck, H. Reichert, M. Hetzel, K. Doll, und B. Sick.
International Conference on Control, Mechatronics and Automation (ICCMA), Seite 171--176. IEEE, (2023)