Moving-object detection and tracking by scanning LiDAR mounted on motorcycle based on dynamic background subtraction
نویسندگان
چکیده
Abstract This paper presents a method for moving-object detection and tracking (DATMO) in global navigation satellite systems (GNSS)-denied environments using light ranging (LiDAR) mounted on motorcycle. Distortion the scanning LiDAR data is corrected by estimating pose (3D positions attitude angles) of motorcycle period shorter than scan normal distributions transform-based simultaneous localization mapping (NDT-based SLAM) information from an inertial measurement unit (IMU) via extended Kalman filter (EKF). The interest are extracted subtracting local environment map generated NDT-based SLAM data. Moving objects detected occupancy grid tracked with Bayesian filter. Experimental results obtained public road university campus demonstrate effectiveness proposed method.
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ژورنال
عنوان ژورنال: Artificial Life and Robotics
سال: 2021
ISSN: ['1433-5298', '1614-7456']
DOI: https://doi.org/10.1007/s10015-021-00693-z