Abstract
This paper presents an online incremental method for object discovery by a mobile robot equipped with a LiDAR sensor. Obtaining object information from the real world is important for an autonomous mobile robot to enable it to understand its environment. The paper focuses on gathering object information as a point cloud from a mobile robot. In contrast to existing systems using dense 3D data, we propose an online incremental system using sparse point cloud data at each frame. Experiment results show the system effectively extracts surrounding objects.
