Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder - Robotics Institute Carnegie Mellon University

Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder

Conference Paper, Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '06), pp. 301 - 306, September, 2006

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.

BibTeX

@conference{MacLachlan-2006-9586,
author = {Robert MacLachlan and Christoph Mertz},
title = {Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder},
booktitle = {Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '06)},
year = {2006},
month = {September},
pages = {301 - 306},
publisher = {IEEE},
keywords = {laser scanner, object tracking, vehicle safety},
}