Confidence-based pedestrian tracking in unstructured environments using 3D laser distance measurements
Intelligent Robots and Systems（2014）
摘要
Detection and tracking of pedestrians is an essential task for autonomous outdoor robots. Modern 3D laser range finders provide a rich and detailed 360 degree picture of the environment. Unstructured environments pose a difficult scenario where a variety of objects with similar shape to a human like shrubs or small trees occur. Especially in combination with partial occlusions, sensor noise, and conclusions from traversing rough terrain.
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关键词
distance measurement,measurement by laser beam,optical radar,particle filtering (numerical methods),pedestrians,robot vision,support vector machines,tracking,3D laser distance measurements,3D laser range finders,LIDAR-based features,autonomous outdoor robots,confidence-based pedestrian tracking,inhomogeneous environments,particle filter,pedestrians detection,sensor,support vector machine,tracking approach,unstructured 3D point clouds,unstructured environments
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