This paper proposes a novel multiple vehicle-like target tracking method based on a Velodyne HDL64E light detection and ranging (LiDAR) system. The proposed method combines multiple hypothesis tracking (MHT) algorithm with dynamic point cloud registration (DPCR), which is able to solve the multiple vehicle-like target tracking in highly dynamic urban environments without any auxiliary information from GPS or IMU. Specifically, to track targets consistently, the DPCR is developed to calculate accurately the pose of the ego-vehicle for the transformation of raw measurements taken in the moving coordinate systems into a static absolute coordinate system; while in turn, MHT helps to improve the performance of DPCR by discriminating and removing the dynamic points from the scene. Furthermore, the proposed MHT method is also able to solve the occlusion problem existing in the point cloud. Experiments on sets of urban environments prove that the presented method is effective and robust, even in highly dynamic environments.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multiple Vehicle-like Target Tracking Based on the Velodyne LiDAR


    Contributors:
    Zhang, Liang (author) / Li, Qingquan (author) / Li, Ming (author) / Mao, Qingzhou (author) / Nüchter, Andreas (author)


    Publication date :

    2013


    Size :

    6 Seiten, 12 Bilder, 21 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Recognition and Classification of Vehicle Target Using the Vehicle-Mounted Velodyne LIDAR

    Yu, Y. / Gao, Z. / Zhu, B. et al. | British Library Conference Proceedings | 2014


    Recognition and Classification of Vehicle Target Using the Vehicle-Mounted Velodyne LIDAR

    Zhu, Bing / Zhao, Jian / Yu, Yong et al. | SAE Technical Papers | 2014



    Velodyne SLAM

    Moosmann, F. / Stiller, C. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2011


    Likelihood-Field-Model-Based Vehicle Pose Estimation with Velodyne

    Chen, Tongtong / Dai, Bin / Liu, Daxue et al. | IEEE | 2015