Multi-Moving Target Tracking with In-Vehicle Laser Range Sensor
Masafumi Hashimoto, Satoshi Ogata, Fuminori OBA, Saburo Okada · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2006
This paper presents a method for tracking multiple moving objects with in-vehicle 2D laser range sensor (LRS) in a cluttered environment, where ambiguous/false measurements appear in the laser image due to observing clutters and windows, etc. Moving objects are detected from the laser image with the LRS via a heuristic rule and an occupancy grid based method. The moving objects are tracked based on Kalman filter and the assignment algorithm. A rule based track management system is embedded into the tracking system in order to improve the tracking performance. The experimental results of two people tracking validate the proposed method.