Pedestrian Detection and Tracking Using Three-dimensional LADAR Data

被引：78

作者：

Navarro-Serment, Luis E. ^{[1
]}

Mertz, Christoph ^{[1
]}

Hebert, Martial ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2010年 / 29卷 / 12期

关键词：

Human detection; 3D LADAR sensing and perception; field and service robotics;

D O I：

10.1177/0278364910370216

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The approach investigated in this work employs three-dimensional LADAR measurement to detect and track pedestrians over time. The sensor is employed on a moving vehicle. The algorithm quickly detects the objects which have the potential of being humans using a subset of these points, and then classifies each object using statistical pattern recognition techniques. The algorithm uses geometric and motion features to recognize human signatures. The perceptual capabilities described form the basis for safe and robust navigation in autonomous vehicles, necessary to safeguard pedestrians operating in the vicinity of a moving robotic vehicle.

引用

页码：1516 / 1528

页数：13

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