Title :
Confidence-based pedestrian tracking in unstructured environments using 3D laser distance measurements
Author :
Haselich, Marcel ; Jobgen, Benedikt ; Wojke, Nicolai ; Hedrich, Jens ; Paulus, Dietrich
Author_Institution :
Active Vision Group, Univ. of Koblenz-Landau, Koblenz-Landau, Germany
Abstract :
Detection and tracking of pedestrians is an essential task for autonomous outdoor robots. Modern 3D laser range finders provide a rich and detailed 360 degree picture of the environment. Unstructured environments pose a difficult scenario where a variety of objects with similar shape to a human like shrubs or small trees occur. Especially in combination with partial occlusions, sensor noise, and conclusions from traversing rough terrain.
Keywords :
distance measurement; measurement by laser beam; optical radar; particle filtering (numerical methods); pedestrians; robot vision; support vector machines; tracking; 3D laser distance measurements; 3D laser range finders; LIDAR-based features; autonomous outdoor robots; confidence-based pedestrian tracking; inhomogeneous environments; particle filter; pedestrians detection; sensor; support vector machine; tracking approach; unstructured 3D point clouds; unstructured environments; Atmospheric measurements; Particle measurements; Runtime; Support vector machines; Target tracking; Three-dimensional displays;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6943142
