Detection and Tracking of Moving Objects Using a Network of Laser Scanners

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文件名称：Detection and Tracking of Moving Objects Using a Network of Laser Scanners
文件大小：2.09MB
文件格式：PDF
更新时间：2015-06-26 18:27:36
ladar detection tracking In our previous work,we reported a system that monitors an intersection using a network of horizontal laser scanners.This paper focuses on an algorithm for moving-object detection and tracking,given a sequence of distributed laser scan data of an intersection.The goal is to detect each moving object that enters the intersection;estimate state parameters such as size;and track its location,speed,and direction while it passes through the intersection.This work is unique,to the best of the authors’knowledge,in that the data is novel,which provides new possibilities but with great challenges;the algorithm is the first proposal that uses such data in detecting and tracking all moving objects that pass through a large crowded intersection with focus on achieving robustness to partial observations,some of which result from occlusions,and on performing correct data associa- tions in crowded situations.Promising results are demonstrated using experimental data from real intersections,whereby,for 1063 objects moving through an intersection over 20 min,988 are perfectly tracked from entrance to exit with an excellent tracking ratio of 92.9%.System advantages,limitations,and future work are discussed.