Tracking of extended targets in high definition 360 degree 3D-LIDAR (Light Detection and Ranging) measurements is a challenging task. It is a key component in robotic applications and is relevant to collision avoidance and autonomous driving. This paper presents a robust method to determine the 3D outline contour of vehicles in disordered 3D-LIDAR measurements while using several geometrical vehicle-specific constraints. In addition, the 3D outline contour contains information on the local reliability of the contour. A weighted registration approach allows calculating the velocity of consecutive 3D outline contours directly. The approach is tested with real sensor data. A robot car equipped with an inertial measurement unit serves as ground truth.


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    Titel :

    3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets


    Beteiligte:
    Steinemann, P. (Autor:in) / Klappstein, J. (Autor:in) / Dickmann, J. (Autor:in) / Wunsche, H.-J. (Autor:in) / Hundelshausen, F. V. (Autor:in)


    Erscheinungsdatum :

    2012-06-01


    Format / Umfang :

    770781 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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