scholarly journals Tracking of Moving Objects in Multiple Categories Using Angle Based Multiple Hypothesis Generation with a Laser Range Finder

2015 ◽  
Vol 51 (5) ◽  
pp. 297-308
Author(s):  
Naotaka HATAO ◽  
Ippei SAMEJIMA ◽  
Satoshi KAGAMI
Keyword(s):  
Moving Objects ◽  
Hypothesis Generation ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
Multiple Hypothesis ◽  
Multiple Categories

scholarly journals Moving obstacles detection based on laser range finder measurements

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141774813 ◽  
Author(s):  
Martin Dekan ◽  
Duchoň František ◽  
Babinec Andrej ◽  
Rodina Jozef ◽  
Rau Dávid ◽  
...  
Keyword(s):  
Probabilistic Model ◽  
Moving Objects ◽  
Object Classification ◽  
Neighborhood Search ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
Logical Connection ◽  
Spatial Changes ◽  
Planar Laser

The objective of this article is to propose data processing from laser range finder that will provide simple, fast, and reliable object recognition including moving objects. The whole method is based on four steps: segmentation, simplification, correspondence between consequent measurements, and object classification. Segmentation uses raw data from laser range finder and it is significant in logical connection of related segments. The most important step is simplification which provides data reduction and acceleration of object classification. The output of simplification is an object represented by significant points. Correspondence between consequent measurements is based on kd-tree nearest neighborhood search. The object is then classified by its spatial changes. These changes are evaluated by position of correspondent significant points. Input of proposed procedure is a probabilistic model of laser range finder. In this article, versatile probabilistic model of Hokuyo URM-30 LX was used. The method was verified by simulations and by tests in real environment. The results show that proposed method is reliable and with small modifications (of parameters), it is usable with any other planar laser range finder.

1A1-R04 Localization of Moving Objects with Inertial Sensor and Laser Range Finder(Integrating Ambient Intelligence(1))

2012 ◽  
Vol 2012 (0) ◽  
pp. _1A1-R04_1-_1A1-R04_4
Author(s):  
Tatsunori MORI ◽  
Masahide TANAKA ◽  
Tokuo TSUJI ◽  
Kouji MURAKAMI ◽  
Tsutomu HASEGAWA ◽  
...  
Keyword(s):  
Ambient Intelligence ◽  
Moving Objects ◽  
Inertial Sensor ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range
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