Title :
Multi-target detection and tracking with a laser scanner
Author :
Mendes, Abel ; Bento, Luis Conde ; Nunes, Urbano
Author_Institution :
Inst. for Syst. & Robotics, Coimbra Univ., Portugal
Abstract :
In this paper we present a method of detection and tracking of moving objects (DATMO) using a laser range finder (LRF). The DATMO system is able to classify several kinds of objects and can be easily expanded to detect new ones. It is composed by three modules: scan segmentation; object classification using a suitable voting scheme of several object properties; and object tracking using a Kalman filter that takes the object type to increase the tracking performance into account. The goal is to design a collision avoidance algorithm to integrate a Cybercar vehicle, which uses the computed time-to-collision for each moving obstacle validated by the DATMO system.
Keywords :
Kalman filters; automobiles; collision avoidance; laser ranging; object detection; optical scanners; pattern classification; target tracking; Cybercar vehicle; Kalman filter; collision avoidance algorithm; laser range finder; laser scanner; moving object detection; moving object tracking; moving obstacle validation; multiple target detection; multiple target tracking; object classification; scan segmentation; time-to-collision; tracking performance; Control systems; Machine vision; Mobile robots; Object detection; Remotely operated vehicles; Road safety; Road transportation; Road vehicles; Vehicle detection; Vehicle safety;
Conference_Titel :
Intelligent Vehicles Symposium, 2004 IEEE
Print_ISBN :
0-7803-8310-9
DOI :
10.1109/IVS.2004.1336486