Multi-target detection and tracking with a laserscanner

  • Mendes A
  • Bento L
  • Nunes U
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Abstract

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.

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Authors

  • A. Mendes

  • L.C. Bento

  • U. Nunes

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