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Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors
Frank Moosmann
2013
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This work presents a solution for autonomous vehicles to detect arbitrary moving traffic participants and to precisely determine the motion of the vehicle. The solution is based on three-dimensional images captured with modern range sensors like e.g. high-resolution laser scanners. As result, objects are tracked and a detailed 3D model is built for each object and for the static environment. The performance is demonstrated in challenging urban environments that contain many different objects.
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Keywords
- Laser scanner
- mapping
- object detection
- self-localization
- Technology, engineering, agriculture
- Technology: general issues
- Tracking
Links
DOI: 10.5445/KSP/1000032359Editions