Publication Type
Journal Article
Version
publishedVersion
Publication Date
1-2013
Abstract
The detection and tracking of moving objects is an essential task in robotics. The CMU-RI Navlab group has developed such a system that uses a laser scanner as its primary sensor. We will describe our algorithm and its use in several applications. Our system worked successfully on indoor and outdoor platforms and with several different kinds and configurations of two-dimensional and three-dimensional laser scanners. The applications vary from collision warning systems, people classification, observing human tracks, and input to a dynamic planner. Several of these systems were evaluated in live field tests and shown to be robust and reliable. (C) 2012 Wiley Periodicals, Inc.
Discipline
Artificial Intelligence and Robotics
Research Areas
Data Science and Engineering; Intelligent Systems and Optimization
Publication
Journal of Field Robotics
Volume
30
Issue
1
First Page
17
Last Page
43
ISSN
1556-4959
Identifier
10.1002/rob.21430
Publisher
Wiley
Citation
MERTZ, Christoph; NAVARRO-SERMENT, Luis E.; MACLACHLAN, Robert; RYBSKI, Paul; STEINFELD, Aaron; SUPPE, Arne; URMSON, Christopher; VANDAPEL, Nicolas; HEBERT, Martial; THORPE, Chuck; DUGGINS, David; and GOWDY, Jay.
Moving object detection with laser scanners. (2013). Journal of Field Robotics. 30, (1), 17-43.
Available at: https://ink.library.smu.edu.sg/sis_research/8234
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 4.0 International License.
Additional URL
https://doi.org/10.1002/rob.21430