This paper presents a method for pedestrian tracking in urban environments using in-vehicle multilayer laser lidar (MLLR). The MLLR that we developed irradiates the laser in six scanning planes by a polygon mirror mechanism, and thus objects with height are observed with the plural scanning planes. MLLR outputs are modified by GPS data and are mapped onto a grid map. Pedestrians are found based on the occupancy grid method, and they are tracked via Kalman filter in conjunction with global nearest neighboring (GNN) based data association. A track management method improves tracking accuracy in real worlds. Our tracking algorithm works well in a low-performance computer environment. The experimental results in different scenarios such as intersection and on the community road validate the proposed method.


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    Titel :

    Multilayer lidar-based pedestrian tracking in urban environments


    Beteiligte:
    Sato, S (Autor:in) / Hashimoto, M (Autor:in) / Takita, M (Autor:in) / Takagi, K (Autor:in) / Ogawa, T (Autor:in)


    Erscheinungsdatum :

    01.06.2010


    Format / Umfang :

    795861 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Multilayer Lidar-Based Pedestrian Tracking in Urban Environments, pp. 849-854

    Sato, S. / Hashimoto, M. / Takita, M. et al. | British Library Conference Proceedings | 2010





    Exploiting LIDAR-based features on pedestrian detection in urban scenarios

    Premebida, Cristiano / Ludwig, Oswaldo / Nunes, Urbano | IEEE | 2009