Observatorio de I+D+i UPM

Descripción
Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance the vehicle perception. We present a real-time integrated framework of multitarget object detection and tracking using 3D LIDAR geared toward urban use. Our approach combines sensor occlusion-aware detection method with computationally efficient heuristics rule-based filtering and adaptive probabilistic tracking to handle uncertainties arising from sensing limitation of 3D LIDAR and complexity of the target object movement. The evaluation results using real-world pre-recorded 3D LIDAR data and comparison with state-of-the-art works shows that our framework is capable of achieving promising tracking performance in the urban situation
Internacional	Si
Nombre congreso	The purpose of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS)
Tipo de participación	960
Lugar del congreso
Revisores	Si
ISBN o ISSN	978-989-758-293-6
DOI
Fecha inicio congreso	16/03/2018
Fecha fin congreso	18/03/2018
Desde la página	0
Hasta la página	0
Título de las actas	Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties

Esta actividad pertenece a memorias de investigación

• Autor: Pascual Campoy Cervera (UPM)

• Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial