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Carnegie Mellon Robotics Institute

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Abstract

The approach investigated in this work employs LADAR measurements to detect and track pedestrians over time. The algorithm can process range measurements from both line and 3D scanners. The use of line scanners allows detection and tracking at rates up to 75 Hz. However, this type of sensor may not always perform satisfactorily in uneven terrains. A 3D LADAR is used to improve operation in uneven terrains, by first estimating the local ground elevation, and then performing the detection using the measurements corresponding to a certain height above the ground. The information pipeline used to feed sensor data into the algorithm is the same for both types of sensors. The perceptual capabilities described aim to form the basis for safe and robust navigation in robotic vehicles, necessary to safeguard pedestrians operating in the vicinity of a moving robotic vehicle.

Keywords

Human detection, LADAR perception, tracking

Notes

Number of pages: 6

Text Reference

Luis Ernesto Navarro-Serment, Christoph Mertz, Nicolas Vandapel, and Martial Hebert, "LADAR-based Pedestrian Detection and Tracking," Proc. 1st. Workshop on Human Detection from Mobile Robot Platforms, IEEE ICRA 2008, May, 2008.

BibTeX Reference

@inproceedings{Navarro-Serment_2008_6019,
   author = "Luis Ernesto Navarro-Serment and Christoph Mertz and Nicolas Vandapel and Martial Hebert",
   title = "LADAR-based Pedestrian Detection and Tracking",
   booktitle = "Proc. 1st. Workshop on Human Detection from Mobile Robot Platforms, IEEE ICRA 2008",
   publisher = "IEEE",
   month = "May",
   year = "2008",
}

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