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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    Title :

    Multilayer lidar-based pedestrian tracking in urban environments


    Contributors:
    Sato, S (author) / Hashimoto, M (author) / Takita, M (author) / Takagi, K (author) / Ogawa, T (author)


    Publication date :

    2010-06-01


    Size :

    795861 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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

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





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