In this paper we have presented a fast algorithm to detect road borders from laser data. Two local search windows, one on right side of the host vehicle and the other on left, are moved right and left respectively from the current position of vehicle in map. A score function is evaluated to know the presence or absence of the road border in current search window. We have used the detected road border information to reduce false alarms in our previous work on DATMO (detection and tracking of moving objects). We also show how these information can be used to infer drivable area and the presence of intersections on the road. Results on data sets obtained from real demonstrator vehicles show that this technique can be successfully applied in real time.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Improving moving objects tracking using road model for laser data


    Contributors:


    Publication date :

    2012-06-01


    Size :

    1298832 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Improving Moving Objects Tracking Using Road Model for Laser Data

    Baig, Q. / Aycard, O. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2012


    Tracking moving objects using range data

    Escobar,A. / Laurendeau,D. / Cote,J. et al. | Automotive engineering | 1997


    Tracking Moving Objects using Range Data

    Escobar, A. / Laurendeau, D. / Cote, J. et al. | British Library Conference Proceedings | 1997



    Road Vehicle Tracking Using Moving Horizon Estimation

    Georgesan, Gejo / Surender, K. | Springer Verlag | 2022