Moving object detection with laser scanners

被引：98

作者：

Mertz, Christoph ^{[1
]}

Navarro-Serment, Luis E. ^{[1
]}

MacLachlan, Robert ^{[1
]}

Rybski, Paul ^{[1
]}

Steinfeld, Aaron ^{[1
]}

Suppe, Arne ^{[1
]}

Urmson, Christopher ^{[1
]}

Vandapel, Nicolas ^{[1
]}

Hebert, Martial ^{[1
]}

Thorpe, Chuck ^{[1
]}

Duggins, David ^{[2
]}

Gowdy, Jay

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

[2] QinetiQ N Amer, Technol Solut Grp, Pittsburgh, PA 15238 USA

来源：

JOURNAL OF FIELD ROBOTICS | 2013年 / 30卷 / 01期

关键词：

DATA SET; TRACKING; PEOPLE;

D O I：

10.1002/rob.21430

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The detection and tracking of moving objects is an essential task in robotics. The CMU-RI Navlab group has developed such a system that uses a laser scanner as its primary sensor. We will describe our algorithm and its use in several applications. Our system worked successfully on indoor and outdoor platforms and with several different kinds and configurations of two-dimensional and three-dimensional laser scanners. The applications vary from collision warning systems, people classification, observing human tracks, and input to a dynamic planner. Several of these systems were evaluated in live field tests and shown to be robust and reliable. (C) 2012 Wiley Periodicals, Inc.

引用

页码：17 / 43

页数：27

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