Moving-object Tracking Using Only Data from Onboard Laser Scanner
Yohei MATSUI, Misato YAMAJI, Masafumi Hashimoto, Kazuhiko Takahashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
This paper presents a tracking (estimation of pose and size) of moving objects using only laser-scanned data from onboard laser scanner. The vehicle identifies its own 3D pose (position and attitude) based on Normal distributions transform (NDT) scan matching method. Based on the pose information, the scanned data are mapped onto an elevation map, and static and moving measurements are classified using the occupancy grid method. Moving measurements are applied to moving-object tracking, and static measurements are applied to environment map update. Experimental results show the performance of the proposed method.