In this paper we present a method of detection and tracking of moving objects (DATMO) using a laser range finder (LRF). The DATMO system is able to classify several kinds of objects and can be easily expanded to detect new ones. It is composed by three modules: scan segmentation; object classification using a suitable voting scheme of several object properties; and object tracking using a Kalman filter that takes the object type to increase the tracking performance into account. The goal is to design a collision avoidance algorithm to integrate a Cybercar vehicle, which uses the computed time-to-collision for each moving obstacle validated by the DATMO system.


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    Titel :

    Multi-target detection and tracking with a laser scanner


    Beteiligte:
    Mendes, A. (Autor:in) / Bento, L.C. (Autor:in) / Nunes, U. (Autor:in)


    Erscheinungsdatum :

    01.01.2004


    Format / Umfang :

    700587 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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