Improving Moving Objects Tracking Using Road Model for Laser Data - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2012

Improving Moving Objects Tracking Using Road Model for Laser Data

Résumé

In this paper we have presented a fast algorithm to detect road borders from laser data. Two local search windows, one on right side of the host vehicle and the other on left, are moved right and left respectively from the current position of vehicle in map. A score function is evaluated to know the presence or absence of the road border in current search window. We have used the detected road border information to reduce false alarms in our previous work on DATMO (detection and tracking of moving objects). We also show how these information can be used to infer drivable area and the presence of intersections on the road. Results on data sets obtained from real demonstrator vehicles show that this technique can be successfully applied in real time.
Fichier non déposé

Dates et versions

hal-00741150 , version 1 (11-10-2012)

Identifiants

Citer

Qadeer Baig, Olivier Aycard. Improving Moving Objects Tracking Using Road Model for Laser Data. 2012 Intelligent Vehicles Symposium, Jun 2012, Alcalá de Henares, Spain. pp.790-795, ⟨10.1109/IVS.2012.6232300⟩. ⟨hal-00741150⟩
212 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More