Pedestrian Detection and Tracking Using Three-dimensional LADAR Data

Authors:
Luis E. Navarro-Serment;Christoph Mertz;Martial Hebert
Affiliations:
The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA, USA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA, USA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA, USA
Venue:
International Journal of Robotics Research
Year:
2010

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Abstract

The approach investigated in this work employs three-dimensional LADAR measurement 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.