Confidence-based pedestrian tracking in unstructured environments using 3D laser distance measurements

Author

Haselich, Marcel ; Jobgen, Benedikt ; Wojke, Nicolai ; Hedrich, Jens ; Paulus, Dietrich

Author_Institution

Active Vision Group, Univ. of Koblenz-Landau, Koblenz-Landau, Germany

fYear

2014

fDate

14-18 Sept. 2014

Firstpage

4118

Lastpage

4123

Abstract

Detection and tracking of pedestrians is an essential task for autonomous outdoor robots. Modern 3D laser range finders provide a rich and detailed 360 degree picture of the environment. Unstructured environments pose a difficult scenario where a variety of objects with similar shape to a human like shrubs or small trees occur. Especially in combination with partial occlusions, sensor noise, and conclusions from traversing rough terrain.

Keywords

distance measurement; measurement by laser beam; optical radar; particle filtering (numerical methods); pedestrians; robot vision; support vector machines; tracking; 3D laser distance measurements; 3D laser range finders; LIDAR-based features; autonomous outdoor robots; confidence-based pedestrian tracking; inhomogeneous environments; particle filter; pedestrians detection; sensor; support vector machine; tracking approach; unstructured 3D point clouds; unstructured environments; Atmospheric measurements; Particle measurements; Runtime; Support vector machines; Target tracking; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Conference_Location

Chicago, IL

Type

conf

DOI

10.1109/IROS.2014.6943142

Filename

6943142