Robust Obstacles Detection and Tracking using 2D Lidar Data

摘要：

Intelligent vehicles have been recognized as a very important research field. In this paper, we propose a new obstacle detection and tracking algorithm using 2D LIDAR data. We segment the obstacles with adaptive segment algorithm and build a hierarchical representation of laser point clouds for obstacle. Furthermore we employ multiple shape features for representation. Based on the segmentation results, we use state lists to preserve the tracking status. The experimental results show better performance than traditional algorithms.

关键词： Intelligent Vehicles LIDAR Signal Processing Environment Perception

作者: Zhenhua Chen Wentao Yao

作者单位: State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology, Tsinghua University Beijing, 100084, China.

会议类型: 国际会议

会议名称: 2012 International Conference on Electric Technology and Civil Engineering(2012 电子技术与土木工程国际会议 ICETCE 2012)

会议地点: 三峡

会议语种:英文

页码: 1815-1818

在线出版日期: 2012-05-18（万方平台首次上网日期，不代表论文的发表时间）