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.


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    Title :

    Utilizing LiDAR Intensity in Object Tracking




    Publication date :

    2019-06-01


    Size :

    723989 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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