Moving-object tracking using laser scanner mounted on two-wheeled vehicle based on environmental map subtraction

Abstract

This paper presents a tracking (estimating position, velocity and size) of moving objects, such as cars, two-wheeled vehicles, and pedestrians, using a multilayer laser scanner mounted on a two-wheeled vehicle. The vehicle obtains its own pose (position and attitude) by on-board global navigation satellite system/inertial navigation system (GNSS/INS) unit and corrects the distortion of the laser-scan data by interpolating the pose information. The corrected laser-scan data is mapped onto 3D voxel map represented in the world coordinate flame. Subsequently, the vehicle extracts the interested laser-scan data from the current laser-scan data using normal distributions transform (NDT) scan matching based map-subtraction method. The extracted scan data are mapped onto an elevation map, and moving objects are detected based on an occupancy grid method. Finally, detected moving objects are tracked based on the Bayesian Filter. Experimental results show the performance of the proposed method.

Keywords

• moving-object tracking
• laser scanner
• two-wheeled vehicle
• distortion correction
• map subtraction