The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Detecting moving vehicles and people is crucial for safe operation of UGVs but is challenging in cluttered, real world environments. We propose a registration technique that enables objects to be robustly matched and tracked, and hence movers to be detected even in high clutter. Range data are acquired using a 2D scanning Ladar from a moving platform. These are automatically clustered into objects and modeled using a surface density function. A Bhattacharya similarity is optimized to register subsequent views of each object enabling good discrimination and tracking, and hence mover detection.

Notes

Number of pages: 6

Text Reference

Daniel D. Morris, Brian R. Colonna, and Paul H. Haley, "LADAR-Based Mover Detection From Moving Vehicles," Proceedings of the 25th Army Science Conference, November, 2006.

BibTeX Reference

@inproceedings{Morris_2006_6069,
   author = "Daniel D. Morris and Brian R. Colonna and Paul H. Haley",
   title = "LADAR-Based Mover Detection From Moving Vehicles",
   booktitle = "Proceedings of the 25th Army Science Conference",
   month = "November",
   year = "2006",
}

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