Multi-target detection and tracking with a laserscanner

  • Mendes A
  • Bento L
  • Nunes U
  • 56


    Mendeley users who have this article in their library.
  • 77


    Citations of this article.


In this paper we present a method of detection and tracking of moving objects (DATMO) using a Laser Range Finder (LRF). The DATMO system is able to classify several kind of objects and can be easily expanded to detect new ones. It is composed by three modules: scan segmentation; object classification using a suitable voting scheme of several object properties; and object tracking using a Kalman filter that takes the object type to increase the tracking performance into account. The goal is the design of a collision avoidance algorithm to integrate in a Cybercar vehicle, which uses the computed time-to-collision for each moving obstacle validated by the DATMO system.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • A. Mendes

  • L.C. Bento

  • U. Nunes

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free