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Laser-Based Hierarchical Grid Mapping for Detection and Tracking of Moving Objects

  • Markus SchützEmail author
  • Yonkie Wiyogo
  • Matthias Schmid
  • Jürgen Dickmann

Abstract

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.

Keywords

hierarchical grid mapping particle filter track-before-detect moving objects detection multiple layers lidar sensor 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Markus Schütz
    • 1
    Email author
  • Yonkie Wiyogo
    • 1
  • Matthias Schmid
    • 1
  • Jürgen Dickmann
    • 1
  1. 1.Daimler AGUlmGermany

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