Title :
Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder
Author :
MacLachlan, Robert A. ; Mertz, Christoph
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
The capability to use a moving sensor to detect moving objects and predict their future path enables both collision warning systems and autonomous navigation. This paper describes a system that combines linear feature extraction, tracking and a motion evaluator to accurately estimate motion of vehicles and pedestrians with a low rate of false motion reports. The tracker was used in a prototype collision warning system that was tested on two transit buses during 7000 km of regular passenger service
Keywords :
collision avoidance; feature extraction; laser ranging; motion estimation; navigation; object detection; optical tracking; vehicle dynamics; 7000 km; autonomous navigation; collision warning system; future path prediction; linear feature extraction; motion evaluator; moving object detection; moving object tracking; moving vehicle sensor; pedestrian motion estimation; scanning laser rangefinder; vehicle motion estimation; Alarm systems; Feature extraction; Motion estimation; Navigation; Object detection; Prototypes; Remotely operated vehicles; Sensor systems; System testing; Tracking;
Conference_Titel :
Intelligent Transportation Systems Conference, 2006. ITSC '06. IEEE
Conference_Location :
Toronto, Ont.
Print_ISBN :
1-4244-0093-7
Electronic_ISBN :
1-4244-0094-5
DOI :
10.1109/ITSC.2006.1706758
