Laser-Based Hierarchical Grid Mapping for Detection and Tracking of Moving Objects
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Detection of moving objects is the fundamental component of both Advanced Driver Assistance Systems (ADAS) and autonomous driving systems in urban environments. This paper proposes a multi-layer laser scan projection approach for motion detection and tracking based on grid mapping. Consecutive grid maps are created to build a temporary dynamic occupancy grid map for each time step. The resulting dynamic grid map is used as an input to a particle filter track-before-detect (TBD) approach. This approach provides robust motion detection in highly dynamic environments. The proposed approach has been evaluated in a real-world scenario using a single moving object and multiple moving objects.
Keywordshierarchical grid mapping particle filter track-before-detect moving objects detection multiple layers lidar sensor
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