Probabilistic scheme for laser based motion detection

This paper presents a motion detection scheme using laser scanners mounted on a mobile vehicle. We propose a stable, yet simple motion detection scheme that can be used and improved with tracking and classification procedures. The salient contribution of the developed architecture is twofold. It proposes a spatio-temporal correspondence procedure based on a scan registration algorithm. The detection is cast as a probability decision problem that accounts for sensor noise and achieves robust classification. Probabilistic occlusion checking is finally performed to improve robustness. Experimental results show the performance of the proposed architecture under different settings in urban environments.