loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Josip Ćesić ; Ivan Marković ; Srećko Jurić-Kavelj and Ivan Petrović

Affiliation: University of Zagreb, Croatia

ISBN: 978-989-758-040-6

Keyword(s): Detection of Moving Objects, Tracking, Laser Range Sensor, JPDA Filter.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: In this paper we present an algorithm for detection, extraction and tracking of moving objects using a 3D laser range sensor. First, ground extraction is performed using random sample consensus for model parameter estimation. Afterwards, to downsample the point cloud, a voxel grid filtering is executed and octree data structure is used. This data structure enables an efficient detection of differences between two consecutive point clouds, based on which clustering of dynamic parts of the cloud is performed. The obtained clusters are then expanded over the set of static voxels in order to cover entire objects. In order to account for ego-motion an iterative closest point registration technique with an initial transformation guess obtained by odometry of the platform is used. As the final step, we present a tracking algorithm based on joint probabilistic data association (JPDA) filter with variable process and measurement noise taking into account velocity and position of the tracked ob jects. However, JPDA filter assumes a constant and known number of objects in the scene, and therefore we use track management based on entropy. Experiments are performed using a setup consisting of a Velodyne HDL-32E mounted on top of a mobile platform in order to verify the developed algorithms. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 35.173.234.140

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Ćesić, J.; Marković, I.; Jurić-Kavelj, S. and Petrović, I. (2014). Detection and Tracking of Dynamic Objects using 3D Laser Range Sensor on a Mobile Platform.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 110-119. DOI: 10.5220/0005057601100119

@conference{icinco14,
author={Josip Ćesić. and Ivan Marković. and Srećko Jurić{-}Kavelj. and Ivan Petrović.},
title={Detection and Tracking of Dynamic Objects using 3D Laser Range Sensor on a Mobile Platform},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={110-119},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005057601100119},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Detection and Tracking of Dynamic Objects using 3D Laser Range Sensor on a Mobile Platform
SN - 978-989-758-040-6
AU - Ćesić, J.
AU - Marković, I.
AU - Jurić-Kavelj, S.
AU - Petrović, I.
PY - 2014
SP - 110
EP - 119
DO - 10.5220/0005057601100119

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.