@inproceedings{29a9c561705c4ac1829a50fe1ccb15ec,
title = "LADAR-based detection and tracking of moving objects from a ground vehicle at high speeds",
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.",
author = "Chieh-Chih Wang and Charles Thorpe and Arne Suppe",
year = "2003",
month = jan,
day = "1",
doi = "10.1109/IVS.2003.1212947",
language = "English",
series = "IEEE Intelligent Vehicles Symposium, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "416--421",
booktitle = "IEEE Intelligent Vehicles Symposium, Proceedings",
address = "United States",
note = "null ; Conference date: 09-06-2003 Through 11-06-2003",
}