In this paper we have presented a fast algorithm to detect road borders from laser data. Two local search windows, one on right side of the host vehicle and the other on left, are moved right and left respectively from the current position of vehicle in map. A score function is evaluated to know the presence or absence of the road border in current search window. We have used the detected road border information to reduce false alarms in our previous work on DATMO (detection and tracking of moving objects). We also show how these information can be used to infer drivable area and the presence of intersections on the road. Results on data sets obtained from real demonstrator vehicles show that this technique can be successfully applied in real time.


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    Titel :

    Improving moving objects tracking using road model for laser data


    Beteiligte:
    Baig, Qadeer (Autor:in) / Aycard, Olivier (Autor:in)


    Erscheinungsdatum :

    01.06.2012


    Format / Umfang :

    1298832 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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