This paper presents a novel approach to environment perception providing consistent information about stationary obstacles, from an occupancy grid, and dynamic objects, from a model based object tracking at the same level of detail. Raw ranging data from dynamic objects is disregarded for the stationary grid map. A detailed shape representation of dynamic objects is achieved by using dedicated local grid maps for each track. In addition to that, a technique for evaluating tracking algorithms via assigned local object grid maps is presented and discussed. The algorithm is tested on different data sets and the obtained results are presented and discussed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Object tracking from medium level stereo camera data providing detailed shape estimation using local grid maps


    Contributors:


    Publication date :

    2013-06-01


    Size :

    1586009 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    OBJECT TRACKING FROM MEDIUM LEVEL STEREO CAMERA DATA PROVIDING DETAILED SHAPE ESTIMATION USING LOCAL GRID MAPS

    Aue, J. / Schmid, M. / Graf, T. et al. | British Library Conference Proceedings | 2013


    Improved object tracking from detailed shape estimation using object local grid maps with stereo

    Aue, Jan / Schmid, Matthias R. / Graf, Thorsten et al. | IEEE | 2013



    Stereo-Camera-Based Urban Environment Perception Using Occupancy Grid and Object Tracking

    Thien-Nghia Nguyen, / Michaelis, B. / Al-Hamadi, Ayoub et al. | IEEE | 2012