NDLI: Advanced occupancy grid techniques for lidar based object detection and tracking

Content Provider	IEEE Xplore Digital Library
Author	Richter, E. Lindner, P. Wanielik, G. Takagi, K. Isogai, A.
Copyright Year	2009
Description	Author affiliation: Corporate R&D Department, DENSO CORPORATION, Kariya-shi, Aichi-ken, 448-8661 Japan, 85386 Eching, Germany (Takagi, K.; Isogai, A.) \|\| Professorship of Communications Engineering, Chemnitz University of Technology, 09126 Chemnitz, Germany (Richter, E.; Lindner, P.; Wanielik, G.)
Abstract	The robust and reliable detection of objects in the surrounding of a vehicle is an important prerequisite for collision avoidance and collision mitigation systems. In this paper, an ego-motion compensated tracking approach is presented which uses extended occupancy grid methods for both detection and tracking of objects observed by lidar. The approach is able to estimate the velocity and direction of moving objects as well as to distinguish between moving and stationary objects. Additionally, an approach for drastically reducing the computational effort is presented.
Starting Page	1
Ending Page	5
File Size	1600058
Page Count	5
File Format	PDF
ISBN	9781424455195
DOI	10.1109/ITSC.2009.5309730
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Laser radar Object detection Target tracking Vehicle detection Vehicles Intelligent transportation systems Chemical technology Robustness Collision avoidance Collision mitigation lidar Multiple Object Tracking grid
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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