Object tracking and classification for multiple active safety and comfort applications using a multilayer laser scanner

This paper summarises new approaches combining distance and reflectivity measurements of laser scanners in order to track and classify more accurately. Additionally a new method is introduced, which analyses the motion of the legs of a pedestrian, in order to distinguish between moving pedestrians and balls or boxes in motion. A first estimation of the motion of the pedestrians legs is performed just one second after the first detection. The analysis is widely independent of the pedestrians´ distance and direction of motion.