Moving object detection with laser scanners

Authors:
Christoph Mertz;Luis E. Navarro-Serment;Robert MacLachlan;Paul Rybski;Aaron Steinfeld;Arne Suppé;Christopher Urmson;Nicolas Vandapel;Martial Hebert;Chuck Thorpe;David Duggins;Jay Gowdy
Affiliations:
The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;QinetiQ North America, Technology Solutions Group, Pittsburgh, Pennsylvania 15238;Active Safety Electronics Department, Takata Corporation, Gibsonia, Pennsylvania 15044
Venue:
Journal of Field Robotics
Year:
2013

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Abstract

The detection and tracking of moving objects is an essential task in robotics. The CMU-RI Navlab group has developed such a system that uses a laser scanner as its primary sensor. We will describe our algorithm and its use in several applications. Our system worked successfully on indoor and outdoor platforms and with several different kinds and configurations of two-dimensional and three-dimensional laser scanners. The applications vary from collision warning systems, people classification, observing human tracks, and input to a dynamic planner. Several of these systems were evaluated in live field tests and shown to be robust and reliable. © 2012 Wiley Periodicals, Inc. © 2013 Wiley Periodicals, Inc.