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

Chieh-Chih Wang; Charles Thorpe; Arne Suppe

doi:10.1109/IVS.2003.1212947

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

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

102 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 language	English
Title of host publication	IEEE Intelligent Vehicles Symposium, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	416-421
Number of pages	6
ISBN (Electronic)	0780378482
DOIs	https://doi.org/10.1109/IVS.2003.1212947
State	Published - 1 Jan 2003
Event	2003 IEEE Intelligent Vehicles Symposium, IV 2003 - Columbus, United States Duration: 9 Jun 2003 → 11 Jun 2003

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference	2003 IEEE Intelligent Vehicles Symposium, IV 2003
Country	United States
City	Columbus
Period	9/06/03 → 11/06/03

Access to Document

10.1109/IVS.2003.1212947

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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.",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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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., 1212947, IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 416-421, 2003 IEEE Intelligent Vehicles Symposium, IV 2003, Columbus, United States, 9/06/03. https://doi.org/10.1109/IVS.2003.1212947

LADAR-based detection and tracking of moving objects from a ground vehicle at high speeds. / Wang, Chieh-Chih; Thorpe, Charles; Suppe, Arne.

IEEE Intelligent Vehicles Symposium, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2003. p. 416-421 1212947 (IEEE Intelligent Vehicles Symposium, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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