Reliable and precise object tracking is an essential requirement for automated driving. The majority of LiDAR-based tracking algorithms resort to raw range measurements only. In contrast, we propose a novel method to extract compact and salient features from LiDAR intensities. Using the example of an evasive steering maneuver of a leading vehicle, we show that leveraging these intensity features allows for a more accurate estimation of object states. The resulting early detection of target object rotation allows an automated driving system additional time for deriving an appropriate driving policy.
Utilizing LiDAR Intensity in Object Tracking
2019 IEEE Intelligent Vehicles Symposium (IV) ; 1543-1548
2019-06-01
723989 byte
Conference paper
Electronic Resource
English
UTILIZING LIDAR INTENSITY IN OBJECT TRACKING
British Library Conference Proceedings | 2019
|3D object tracking using RGB and LIDAR data
IEEE | 2016
|OBJECT TRACKING USING LiDAR DATA FOR AUTONOMOUS MACHINE APPLICATIONS
European Patent Office | 2023
|