Cooperative moving-object tracking with multiple mobile sensor nodes — Size and posture estimation of moving objects using in-vehicle multilayer laser scanner
Shota Kanaki, Koki Fujishita, Masafumi Hashimoto, Ryohei Murabayashi, Kimiaki Inui, Kazuhiko Takahashi · 2016
We present cooperative moving object tracking with multiple mobile sensor nodes, each equipped with a multilayer laser scanner. Moving objects in the laser-scanned images are detected by a binarized occupancy grid method. The sensor nodes send the information of the detected moving objects to a central server, which estimates the size, position, and velocity of those objects using a Bayesian filter and feeds the estimates back to the sensor nodes. Reliable one-to-one (or one-to-many) matching of the tracked objects and the measurements related to the moving objects is achieved by rule-based data association. Experimental results of tracking car and people by two sensor nodes show the effectiveness of the proposed method.