Detecting and tracking vehicles is crucial for safe operation of Unmanned Ground Vehicles (UGVs), but is challenging in cluttered, real-world environments. Here we present a method for discriminating vehicles from clutter found in natural terrain such as foliage, steep slopes, rock-outcrops, etc. Our method relies on a scanning LADAR and combines an obstacle detector and tracker, a vehicle modeling scheme, and a Support Vector-based discriminator. The output of our real-time system is a list of labeled obstacles and vehicles along with their positions, sizes and velocity estimates. This is used by a planner to enable autonomous navigation in the presence of other vehicles and significant clutter. We provide a quantitative analysis of the performance of our algorithm.


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    Title :

    Ladar-Based Vehicle Detection and Tracking in Cluttered Environments


    Contributors:
    D. Morris (author) / R. Hoffman (author) / S. McLean (author)

    Publication date :

    2008


    Size :

    8 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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