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Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors

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Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783866449770 Year: Volume: 24 Pages: XVIII, 128 p. DOI: 10.5445/KSP/1000032359 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:57
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Abstract

This work presents a solution for autonomous vehicles to detect arbitrary moving traffic participants and to precisely determine the motion of the vehicle. The solution is based on three-dimensional images captured with modern range sensors like e.g. high-resolution laser scanners. As result, objects are tracked and a detailed 3D model is built for each object and for the static environment. The performance is demonstrated in challenging urban environments that contain many different objects.

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2013 (1)