NDLI: Moving objects detection and classification based on trajectories of LRF scan data on a grid map

Content Provider	IEEE Xplore Digital Library
Author	Mori, T. Sato, T. Noguchi, H. Shimosaka, M. Fukui, R. Sato, T.
Copyright Year	2010
Description	Author affiliation: Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Japan (Mori, T.; Sato, T.; Noguchi, H.; Shimosaka, M.; Fukui, R.; Sato, T.)
Abstract	Laser based environment recognition technologies have been developed recently. Especially moving objects detection and classification by laser scanners mounted on a mobility is required for mobile robots and autonomous cars. In this paper, we propose a moving objects detection and classification method based on grid trajectories acquired from sequential laser scan data. Grid trajectories are obtained by voting sequential laser scan points on a grid map, and these trajectories not only work for a correct scan segmentation, but also represent the size and the speed of moving objects. We classify a moving object into either a person, a group of people, a bike, a car based on its grid trajectory. In our experiments, our mobility mounted laser scanners acquired scan data in the university campus, and the experimental results illustrate the effectiveness of the proposed method in outdoor environments.
Starting Page	2606
Ending Page	2611
File Size	2415768
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651516
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Object detection Training data Bicycles Feature extraction Robustness Lasers
Content Type	Text
Resource Type	Article

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