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Carnegie Mellon Robotics Institute

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Abstract

The capability to use a moving sensor to detect moving objects and predict their future path enables both collision warning systems and autonomous navigation. This paper describes a system that combines linear feature extraction, tracking and a motion evaluator to accurately estimate motion of vehicles and pedestrians with a low rate of false motion reports. The tracker was used in a prototype collision warning system that was tested on two transit buses during 7000 km of regular passenger service.

Keywords

laser scanner, object tracking, vehicle safety

Notes

Sponsor: U.S. Department of Transportation

Grant ID: 25096944900

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Lab(s) / Group(s): NavLab

Associated Project(s): Side Collision Warning System for Transit Buses and CTA Robotics

Number of pages: 6

Text Reference

Robert MacLachlan and Christoph Mertz, "Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder," Intelligent Transportation Systems 2006, September, 2006, pp. 301-306.

BibTeX Reference

@inproceedings{MacLachlan_2006_5713,
   author = "Robert MacLachlan and Christoph Mertz",
   title = "Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder",
   booktitle = "Intelligent Transportation Systems 2006",
   pages = "301-306",
   publisher = "IEEE",
   month = "September",
   year = "2006",
   volume = "2006",
}

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