DocumentCode
3228500
Title
Fast and robust tracking of multiple moving objects with a laser range finder
Author
Kluge, Boris ; Köhler, Christian ; Prassler, Erwin
Author_Institution
Res. Inst. for Appl. Knowledge Process., Ulm Univ., Germany
Volume
2
fYear
2001
fDate
2001
Firstpage
1683
Abstract
In this paper we focus on the task of tracking multiple moving objects in rapidly changing, dynamic environments. Objects are extracted from laser range finder images and correspondences between successive images are established by network optimization techniques. The approach is implemented on a robotic wheelchair, used in two applications and evaluated experimentally.
Keywords
image matching; image sequences; laser ranging; object recognition; optical tracking; optimisation; stability; fast robust tracking; image correspondences; laser range finder images; multiple moving objects; network optimization techniques; rapidly changing dynamic environments; robotic wheelchair; Bipartite graph; Humanoid robots; Humans; Image segmentation; Mobile robots; Robot sensing systems; Robotic assembly; Robustness; Vehicle dynamics; Wheelchairs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932853
Filename
932853
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