• DocumentCode
    2351494
  • Title

    Obstacle Detection and Tracking Using Laser 2D

  • Author

    Habermann, Danilo ; Garcia, Claudio

  • Author_Institution
    Polytech. Sch., Sao Paulo Univ., São Paulo, Brazil
  • fYear
    2010
  • fDate
    23-28 Oct. 2010
  • Firstpage
    120
  • Lastpage
    125
  • Abstract
    An obstacle detection and tracking system using a 2D laser sensor and the Kalman filter is presented. This filter is not very efficient in case of severe disturbances in the measured position of the obstacle, as for instance, when an object being tracked is behind a barrier, thus interrupting the laser beam, making it impossible to receive the sensor information about its position. This work suggests a method to minimize this problem by using an algorithm called Corrector of Discrepancies.
  • Keywords
    Kalman filters; collision avoidance; image sensors; mobile robots; object detection; robot vision; tracking; 2D laser sensor; Kalman filter; autonomous vehicles; corrector of discrepancies; obstacle detection; tracking system; Kalman filter; laser sensor; object detection; vehicle tracking;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics Symposium and Intelligent Robotic Meeting (LARS), 2010 Latin American
  • Conference_Location
    Sao Bernardo do Campo
  • Print_ISBN
    978-1-4244-8639-7
  • Type

    conf

  • DOI
    10.1109/LARS.2010.21
  • Filename
    5702192
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2351494