Autonomous vehicles require a reliable perception of their environment to operate in real-world conditions. Awareness of moving objects is one of the key components for the perception of the environment. This paper proposes a method for detection and tracking of moving objects (DATMO) in dynamic environments surrounding a moving road vehicle equipped with a Velodyne laser scanner and GPS/IMU localization system. First, at every time step, a local 2.5D grid is built using the last sets of sensor measurements. Along time, the generated grids combined with localization data are integrated into an environment model called local 2.5D map. In every frame, a 2.5D grid is compared with an updated 2.5D map to compute a 2.5D motion grid. A mechanism based on spatial properties is presented to suppress false detections that are due to small localization errors. Next, the 2.5D motion grid is post-processed to provide an object level representation of the scene. The detected moving objects are tracked over time by applying data association and Kalman filtering. The experiments conducted on different sequences from KITTI dataset showed promising results, demonstrating the applicability of the proposed method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Detection and Tracking of Moving Objects Using 2.5D Motion Grids


    Beteiligte:
    Asvadi, Alireza (Autor:in) / Peixoto, Paulo (Autor:in) / Nunes, Urbano (Autor:in)


    Erscheinungsdatum :

    01.09.2015


    Format / Umfang :

    1974493 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Mapping of environment, detection and tracking of moving objects using occupancy grids

    Vu, Trung-Dung / Burlet, Julien / Aycard, Olivier | Tema Archiv | 2008


    Extended occupation grids for non-rigid moving objects tracking

    Lefaudeux, B. / Gate, G. / Nashashibi, F. | IEEE | 2011


    Moving Objects Detection by Conflict Analysis in Evidential Grids

    Moras, J. / Cherfaoui, V. / Bonnifait, P. et al. | British Library Conference Proceedings | 2011


    Moving Objects Detection by Conflict Analysis in Evidential Grids

    Moras, J. / Cherfaoui, V. / Bonnifait, P. | IEEE | 2011


    Footprint-Based Classification of Road Moving Objects Using Occupancy Grids

    Alonso, Victor / Correal, Raul / Villagra, Jorge | British Library Conference Proceedings | 2017