Model-free detection and tracking of dynamic objects with 2D lidar

International Journal of Robotics Research, Volume 34, Issue 7, 2015.

Cited by: 68|Bibtex|Views33|Links
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Keywords:
Perceptionmodel-freetrackingdata associationrange sensingMore(2+)

Abstract:

We present a new approach to detection and tracking of moving objects with a 2D laser scanner for autonomous driving applications. Objects are modelled with a set of rigidly attached sample points along their boundaries whose positions are initialized with and updated by raw laser measurements, thus allowing a non-parametric representatio...More

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