Name
Title | ||
|---|---|---|
3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets |
Abstract | ||
|---|---|---|
Tracking of extended targets in high definition 360 degree 3D-LIDAR (Light Detection and Ranging) measurements is a challenging task. It is a key component in robotic applications and is relevant to collision avoidance and autonomous driving. This paper presents a robust method to determine the 3D outline contour of vehicles in disordered 3D-LIDAR measurements while using several geometrical vehicle-specific constraints. In addition, the 3D outline contour contains information on the local reliability of the contour. A weighted registration approach allows calculating the velocity of consecutive 3D outline contours directly. The approach is tested with real sensor data. A robot car equipped with an inertial measurement unit serves as ground truth. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IVS.2012.6232179 | Intelligent Vehicles Symposium |
Keywords | Field | DocType |
automobiles,collision avoidance,mobile robots,optical radar,radar tracking,target tracking,autonomous driving,collision avoidance,consecutive 3D outline contour,contour reliability,disordered 3D-LIDAR measurement,extended target tracking,geometrical vehicle-specific constraint,inertial measurement unit,light detection,light ranging,robot car,robotic application,sensor data,velocity calculation,weighted registration approach | Computer vision,Radar tracker,Visualization,Ranging,Lidar,Ground truth,Inertial measurement unit,Artificial intelligence,Engineering,Robot,Mobile robot | Conference |
ISSN | ISBN | Citations |
1931-0587 | 978-1-4673-2119-8 | 3 |
PageRank | References | Authors |
0.53 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Steinemann, P. | 1 | 3 | 0.87 |
| Klappstein, J. | 2 | 12 | 2.17 |
| Jürgen Dickmann | 3 | 83 | 14.07 |
| Wunsche, H. | 4 | 3 | 0.87 |