Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder
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Abstract
Abstract β The capability to use a moving sensor to detect moving objects and predict their future path enables both collision warning systems and autonomous navigation. This paper describes a system that combines linear feature extraction, tracking and a motion evaluator to accurately estimate motion of vehicles and pedestrians with a low rate of false motion reports. The tracker was used in a prototype collision warning system that was tested on two transit buses during 7000 km of regular passenger service. I