Cooperative Tracking of Moving Objects with Multiple Mobile Sensor Nodes using In-vehicle Multilayer Laser Scanner
Ryohei Murabayashi, Shota Kanaki, Yuto Tamura, Masafumi Hashimoto, Kazuhiko Takahashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
This paper presents a cooperative moving-object tracking with multiple mobile sensor nodes (mobile robots) using in-vehicle multilayer laser scanner. Each sensor node detects moving objects such as people, cars, and motorcycles using its own multilayer laser scanner by an occupancy-grid-based method and then estimate their sizes and postures. After that, each sensor node sends the estimates to a central server. The central server combines the estimates received from mobile sensor nodes to improve the tracking accuracy, and their estimates are fed back to the mobile sensor nodes. Experimental results of tracking vehicles by two mobile sensor nodes show the performance of the proposed method.