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Improving Moving Objects Tracking Using Road Model for Laser Data

Qadeer Baig 1 Olivier Aycard 2, * 
* Corresponding author
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : 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.
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Submitted on : Thursday, October 11, 2012 - 6:44:01 PM
Last modification on : Sunday, June 26, 2022 - 9:35:36 AM



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⟩



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