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.
3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets
2012 IEEE Intelligent Vehicles Symposium ; 432-437
2012-06-01
770781 byte
Conference paper
Electronic Resource
English
3D Outline Contours of Vehicles in 3D-LIDAR-Measurements for Tracking Extended Targets
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