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Tracking Multiple Targets from a Mobile Robot Platform using a Laser Range Scanner (2008)
| Content Provider | CiteSeerX |
|---|---|
| Author | Kondaxakis, Polychronis Kasderidis, Stathis Trahanias, Panos |
| Description | A major issue in the field of mobile robotics today is the detection and tracking of moving objects (DATMO) from a moving observer. In dynamic and highly populated environments, this problem presents a complex and computationally demanding task. It can be divided in sub-problems such as robot’s relative motion compensation, feature extraction, measurement clustering, data association and targets ’ state vector estimation. In this paper we present an innovative approach that addresses all these issues exploiting various probabilistic and deterministic techniques. The algorithm utilizes real laser-scanner data to dynamically extract moving objects from their background environment, using a time-fading grid map method, and tracks the identified targets employing a Joint Probabilistic Data Association with Interacting Multiple Model (JPDA-IMM) algorithm. The resulting technique presents a computationally efficient approach to already existing target-tracking research for real time application scenarios. 1 |
| File Format | |
| Language | English |
| Publisher Date | 2008-01-01 |
| Publisher Institution | In Proc. IET on Target tracking and data fusion: Algorithms and applications |
| Access Restriction | Open |
| Subject Keyword | Mobile Robotics Today Major Issue Feature Extraction Real Time Application Scenario Efficient Approach Target State Vector Estimation Algorithm Utilizes Real Laser-scanner Data Multiple Target Joint Probabilistic Data Association Populated Environment Mobile Robot Platform Identified Target Time-fading Grid Map Method Laser Range Scanner Data Association Innovative Approach Relative Motion Compensation Measurement Clustering Background Environment Target-tracking Research Deterministic Technique Interacting Multiple Model |
| Content Type | Text |
| Resource Type | Article |
