3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets

Tracking of extended targets in high definition 360 degree 3D-LIDAR (Light Detection and Ranging) measurements is a challenging task. It is a key component in robotic applications and is relevant to collision avoidance and autonomous driving. This paper presents a robust method to determine the 3D o...

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Hauptverfasser:	Steinemann, P., Klappstein, J., Dickmann, J., Wunsche, H.-J., Hundelshausen, F. V.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Equations Laser radar Mathematical model Measurement by laser beam Robots Vehicles Visualization
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creator	Steinemann, P. Klappstein, J. Dickmann, J. Wunsche, H.-J. Hundelshausen, F. V.
description	Tracking of extended targets in high definition 360 degree 3D-LIDAR (Light Detection and Ranging) measurements is a challenging task. It is a key component in robotic applications and is relevant to collision avoidance and autonomous driving. This paper presents a robust method to determine the 3D outline contour of vehicles in disordered 3D-LIDAR measurements while using several geometrical vehicle-specific constraints. In addition, the 3D outline contour contains information on the local reliability of the contour. A weighted registration approach allows calculating the velocity of consecutive 3D outline contours directly. The approach is tested with real sensor data. A robot car equipped with an inertial measurement unit serves as ground truth.
doi_str_mv	10.1109/IVS.2012.6232179
format	Conference Proceeding
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subjects	Equations Laser radar Mathematical model Measurement by laser beam Robots Vehicles Visualization
title	3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets
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