Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds

Chieh-Chih Wang, Chuck Thorpe, and Arne Suppe
IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.


Download
  • Adobe portable document format (pdf) (912KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Detection and tracking of moving objects (DATMO) in crowded urban areas from a ground vehicle at high speeds is difficult because of a wide variety of targets and uncertain pose estimation from odometry and GPS/DGPS. In this paper we present a solution of the simultaneous localization and mapping (SLAM) with DATMO problem to accomplish this task using ladar sensors and odometry. With a precise pose estimate and a surrounding map from SLAM, moving objects are detected without a priori knowledge of the targets. The interacting multiple model (IMM) estimation algorithm is used for modeling the motion of a moving object and to predict its future location. The multiple hypothesis tracking (MHT) method is applied to refine detection and data association. Experimental results demonstrate that our algorithm is reliable and robust to detect and track pedestrians and different types of moving vehicles in urban areas.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab
Associated Project(s): Transit Bus Collision Warning Systems and Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects
Number of pages: 6

Text Reference
Chieh-Chih Wang, Chuck Thorpe, and Arne Suppe, "Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds," IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.

BibTeX Reference
@inproceedings{Wang_2003_4358,
   author = "Chieh-Chih Wang and Chuck Thorpe and Arne Suppe",
   title = "Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds",
   booktitle = "IEEE Intelligent Vehicles Symposium (IV2003)",
   month = "June",
   year = "2003",
}