Name
Abstract | ||
|---|---|---|
This paper proposes a method for detecting and tracking themotion of a large number of dynamic objects in crowded environments,such as concourses in railway stations or airports, shopping malls,or convention centers. With this motion information, a mobile vehicleis able to navigate autonomously among moving obstacles, operating athigher speeds and using more informed locomotion strategies thatperform better than simple reactive manoeuvering strategies. Unlikemany of the methods for motion detection and tracking discussed inthe literature, our approach is not based on visual imagery but uses2D range data obtained using a laser rangefinder. The directavailability of range information contributes to the real-timeperformance of our approach, which is a primary goal of the project,since the purpose of the vehicle is the transport of humans incrowded areas. Motion detection and tracking of dynamic objects isdone by constructing a sequence of temporal lattice maps. Thesecapture the time-varying nature of the environment, and are denotedas time-stamp maps. A time-stamp map is a projection of rangeinformation obtained over a short interval of time (a scan) onto atwo-dimensional grid, where each cell which coincides with a specificrange value is assigned a time stamp. Based on this representation,we devised two algorithms for motion detection and motiontracking. The approach is very efficient, with a complete cycleinvolving both motion detection and tracking taking 6 ms on a Pentium166 MHz. The system has been demonstrated on an intelligentwheelchair operating in railway stations and convention centersduring rush hour. |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1023/A:1008997110534 | Auton. Robots |
Keywords | Field | DocType |
motion detection,real-time motion tracking,multiple moving objects,range images,temporal maps | Wheelchair,Computer vision,Motion detection,Simulation,Computer science,Tracking system,Artificial intelligence,Pentium,Timestamp,Robot,Match moving,Grid | Journal |
Volume | Issue | ISSN |
8 | 2 | 1573-7527 |
Citations | PageRank | References |
25 | 2.62 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Erwin Prassler | 1 | 368 | 58.74 |
| Jens Scholz | 2 | 25 | 2.62 |
| Alberto Elfes | 3 | 1470 | 416.36 |