In this paper we present a method of detection and tracking of moving objects (DATMO) using a laser range finder (LRF). The DATMO system is able to classify several kinds of objects and can be easily expanded to detect new ones. It is composed by three modules: scan segmentation; object classification using a suitable voting scheme of several object properties; and object tracking using a Kalman filter that takes the object type to increase the tracking performance into account. The goal is to design a collision avoidance algorithm to integrate a Cybercar vehicle, which uses the computed time-to-collision for each moving obstacle validated by the DATMO system.


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    Title :

    Multi-target detection and tracking with a laser scanner


    Contributors:
    Mendes, A. (author) / Bento, L.C. (author) / Nunes, U. (author)


    Publication date :

    2004-01-01


    Size :

    700587 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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