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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Vu, A. Kato, S. |
| Copyright Year | 2013 |
| Description | Author affiliation: Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan (Kato, S.) || Univ. of California, Riverside, Riverside, CA, USA (Vu, A.) |
| Abstract | In many applications involving robotics and intelligent vehicles, high precision multi-target trajectories are needed for analysis, especially those associated with control and safety applications. This paper presents an optimization approach to obtain multiple targeted trajectories from a stationary 2D LIDAR along the LIDAR's measurement plane. The use of the 2D LIDAR allows this method to work in various environments (e.g. both indoor and outdoor) compared to Global Navigation Satellite Systems (GNSS) and vision based approaches. A cylinder with high reflectivity is attached to each of the targets of interest where the 2D LIDAR measurements correspond to these cylinders are extracted and the trajectories are estimated. This approach is robust toward short duration occlusions from dynamic objects (both targeted and non-targeted) moving in the environment. Preliminary data are presented in the experimental results which includes the processing of multi-target data. |
| Sponsorship | IEEE Intell. Transp. Syst. Soc. |
| Starting Page | 919 |
| Ending Page | 924 |
| File Size | 1390178 |
| Page Count | 6 |
| File Format | |
| ISSN | 19310587 |
| e-ISBN | 9781467327558 |
| DOI | 10.1109/IVS.2013.6629584 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-06-23 |
| Publisher Place | Australia |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Trajectory Laser radar Time measurement Vectors Robots Estimation Smoothing methods segmentation Trajectory estimation state estimation target tracking LIDAR target tracking |
| Content Type | Text |
| Resource Type | Article |
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