LADAR-based detection and tracking of moving objects from a ground vehicle at high speeds

Chieh-Chih Wang*, Charles Thorpe, Arne Suppe

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

100 Scopus citations

Abstract

Detection and tracking of moving objects (DATMO) in crowded urban areas from a ground vehicle at high speeds is difficult because of a wide variety of targets and uncertain pose estimation from odometry and GPS/DGPS. In this paper we present a solution of the simultaneous localization and mapping (SLAM) with DATMO problem to accomplish this task using ladar sensors and odometry. With a precise pose estimate and a surrounding map from SLAM, moving objects are detected without a priori knowledge of the targets. The interacting multiple model (IMM) estimation algorithm is used for modeling the motion of a moving object and to predict its future location. The multiple hypothesis tracking (MHT) method is applied to refine detection and data association. Experimental results demonstrate that our algorithm is reliable and robust to detect and track pedestrians and different types of moving vehicles in urban areas.

Original languageEnglish
Title of host publicationIEEE Intelligent Vehicles Symposium, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages416-421
Number of pages6
ISBN (Electronic)0780378482
DOIs
StatePublished - 1 Jan 2003
Event2003 IEEE Intelligent Vehicles Symposium, IV 2003 - Columbus, United States
Duration: 9 Jun 200311 Jun 2003

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference2003 IEEE Intelligent Vehicles Symposium, IV 2003
CountryUnited States
CityColumbus
Period9/06/0311/06/03

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    Wang, C-C., Thorpe, C., & Suppe, A. (2003). LADAR-based detection and tracking of moving objects from a ground vehicle at high speeds. In IEEE Intelligent Vehicles Symposium, Proceedings (pp. 416-421). [1212947] (IEEE Intelligent Vehicles Symposium, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2003.1212947