Moving object detection with laser scanners

Christoph Mertz, Luis Ernesto Navarro-Serment, David Duggins, Jay Gowdy, Robert MacLachlan, Paul Rybski, Aaron Steinfeld, Arne Suppe, Christopher Urmson, Nicolas Vandapel, Martial Hebert, and Chuck Thorpe
Journal of Field Robotics, Vol. 30, No. 1, January, 2013, pp. 17 - 43.


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Abstract
The detection and tracking of moving objects is an essential task in robotics. The CMU-RI Navlab group has developed such a system that uses a laser scanner as its primary sensor. We will describe our algorithm and its use in several applications. Our system worked successfully on indoor and outdoor platforms and with several different kinds and configurations of two-dimensional and three-dimensional laser scanners. The applications vary from collision warning systems, people classification, observing human tracks, and input to a dynamic planner. Several of these systems were evaluated in live field tests and shown to be robust and reliable.

Keywords
laser scanner, detection and tracking, moving objects

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab
Number of pages: 27
Note: Article first published online: 3 JUL 2012

Text Reference
Christoph Mertz, Luis Ernesto Navarro-Serment, David Duggins, Jay Gowdy, Robert MacLachlan, Paul Rybski, Aaron Steinfeld, Arne Suppe, Christopher Urmson, Nicolas Vandapel, Martial Hebert, and Chuck Thorpe, "Moving object detection with laser scanners," Journal of Field Robotics, Vol. 30, No. 1, January, 2013, pp. 17 - 43.

BibTeX Reference
@article{Mertz_2013_7197,
   author = "Christoph Mertz and Luis Ernesto Navarro-Serment and David Duggins and Jay Gowdy and Robert MacLachlan and Paul Rybski and Aaron Steinfeld and Arne Suppe and Christopher Urmson and Nicolas Vandapel and Martial Hebert and Chuck Thorpe",
   title = "Moving object detection with laser scanners",
   journal = "Journal of Field Robotics",
   pages = "17 - 43",
   publisher = "Wiley Subscription Services, Inc., A Wiley Company",
   month = "January",
   year = "2013",
   volume = "30",
   number = "1",
   Notes = "Article first published online: 3 JUL 2012"
}