This paper presents innovations for detection of obstacles and road using a Multilayer Laserscanner. The classification of pedestrians and other road users require robust object tracking algorithms. Their reliability strongly depends on a precise ego-motion compensation. A new method of ego-motion estimation based on relative velocities of tracked objects will be introduced. This method operates especially under undefined driving conditions, such as skidding of the ego vehicle, where algorithms based on the vehicle's INS data fail. High performance object tracking and classification algorithms for real-time data processing will be introduced. Especially the results of a new pedestrian recognition technique will be presented. Methods for road detection and road type classification based on Laserscanner data will be explained in a separated chapter. The fusion of road detection and object recognition will enable a better interpretation of driving situations.
Laserscanner innovations for detection of obstacles and road
Innovationen auf dem Gebiet der Laserscanner zur Erkennung von Hindernissen und des Wegverlaufs
2003
25 Seiten, 18 Bilder, 1 Tabelle, 18 Quellen
Conference paper
English
Laserscanner Innovations for Detection of Obstacles and Road
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