This paper presents a novel approach to environment perception providing consistent information about stationary obstacles, from an occupancy grid, and dynamic objects, from a model based object tracking at the same level of detail. Raw ranging data from dynamic objects is disregarded for the stationary grid map. A detailed shape representation of dynamic objects is achieved by using dedicated local grid maps for each track. In addition to that, a technique for evaluating tracking algorithms via assigned local object grid maps is presented and discussed. The algorithm is tested on different data sets and the obtained results are presented and discussed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Object tracking from medium level stereo camera data providing detailed shape estimation using local grid maps


    Beteiligte:
    Aue, Jan (Autor:in) / Schmid, Matthias R. (Autor:in) / Graf, Thorsten (Autor:in) / Effertz, Jan (Autor:in) / Muehlfellner, Peter (Autor:in)


    Erscheinungsdatum :

    01.06.2013


    Format / Umfang :

    1586009 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    OBJECT TRACKING FROM MEDIUM LEVEL STEREO CAMERA DATA PROVIDING DETAILED SHAPE ESTIMATION USING LOCAL GRID MAPS

    Aue, J. / Schmid, M. / Graf, T. et al. | British Library Conference Proceedings | 2013


    Improved object tracking from detailed shape estimation using object local grid maps with stereo

    Aue, Jan / Schmid, Matthias R. / Graf, Thorsten et al. | IEEE | 2013



    Stereo-Camera-Based Urban Environment Perception Using Occupancy Grid and Object Tracking

    Thien-Nghia Nguyen, / Michaelis, B. / Al-Hamadi, Ayoub et al. | IEEE | 2012