Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors
Abstract
This work presents a solution for autonomous vehicles to detect arbitrary moving traffic participants and to precisely determine the motion of the vehicle. The solution is based on three-dimensional images captured with modern range sensors like e.g. high-resolution laser scanners. As result, objects are tracked and a detailed 3D model is built for each object and for the static environment. The performance is demonstrated in challenging urban environments that contain many different objects.
Keywords
mapping; self-localization; object detection; laser scanner; trackingISBN
9783866449770Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2013Series
Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie,Classification
Technology: general issues