Laser-Based Hierarchical Grid Mapping for Detection and Tracking of Moving Objects
Detection of moving objects is the fundamental component of both Advanced Driver Assistance Systems (ADAS) and autonomous driving systems in urban environments. This paper proposes a multi-layer laser scan projection approach for motion detection and tracking based on grid mapping. Consecutive grid maps are created to build a temporary dynamic occupancy grid map for each time step. The resulting dynamic grid map is used as an input to a particle filter track-before-detect (TBD) approach. This approach provides robust motion detection in highly dynamic environments. The proposed approach has been evaluated in a real-world scenario using a single moving object and multiple moving objects.
Keywordshierarchical grid mapping particle filter track-before-detect moving objects detection multiple layers lidar sensor
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