Abstract
The approach investigated in this work employs three-dimensional LADAR measurements to detect and track pedestrians over time. The sensor is employed on a moving vehicle. The algorithm quickly detects the objects which have the potential of being humans using a subset of these points, and then classifies each object using statistical pattern recognition techniques. The algorithm uses geometric and motion features to recognize human signatures. The perceptual capabilities described form the basis for safe and robust navigation in autonomous vehicles, necessary to safeguard pedestrians operating in the vicinity of a moving robotic vehicle.
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Navarro-Serment, L.E., Mertz, C., Hebert, M. (2010). Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data. In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_10
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DOI: https://doi.org/10.1007/978-3-642-13408-1_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13407-4
Online ISBN: 978-3-642-13408-1
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