Journal ArticleDOI
Static map reconstruction and dynamic object tracking for a camera and laser scanner system
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TLDR
In the proposed method, occluded regions are combined 3D motion models with object appearance to manage difficulties in crowded scenes and an improved automatic calibration is designed to merge image and laser point clouds.Abstract:
The vision-based mobile robot's simultaneous localisation and mapping and navigation capability in dynamic environments are highly problematic elements of robot vision applications. The goal of this study is to reconstruct a static map and track the dynamic object for a camera and laser scanner system. An improved automatic calibration is designed to merge image and laser point clouds. Then, the fusion data is exploited to detect the slowly moved object and reconstruct static map. Tracking-by-detection requires the correct assignment of noisy detection results to object trajectories. In the proposed method, occluded regions are combined 3D motion models with object appearance to manage difficulties in crowded scenes. The proposed method was validated by experimental results gathered in a real environment and on publicly available data.read more
Citations
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Journal ArticleDOI
Continuously tracking of moving object by a combination of ultra-high frequency radio-frequency identification and laser range finder:
TL;DR: This article proposes an innovative method to track the locations of dynamic objects by combining radio-frequency identification and laser ranging information and uses the clustering results from density-based spatial clustering of applications with noise to continuously track the moving object.
Book ChapterDOI
Particle Filter for Trajectories of Movers from Laser Scanned Dataset
TL;DR: Experimental results on the identical laser scanned dataset demonstrate that the approach of SVM with Hungarian method using particle filter outperforms both the threshold based approach with Hungarians method using Kalman filter and the approach to detect and track movers from laser scanned datasets.
Journal ArticleDOI
A single-shot pose estimation approach for a 2D laser rangefinder
TL;DR: This paper shows that the pose of a 2D LRF can be uniquely determined from the single-shot of a trirectangular trihedron, by using LIDAR data of one scan for the first time.
Journal ArticleDOI
Encode–decode network with fully connected CRF for dynamic objects detection and static maps reconstruction
TL;DR: This work starts from an encode-decode network, which receives two range maps provided by a Velodyne HDL-64 laser scanner and outputs dynamic probability of each point, and proposes a 3D fully connected CRF (Conditional Random Field) to improve the segmentation performance.
References
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Journal ArticleDOI
Semantic 3D Object Maps for Everyday Manipulation in Human Living Environments
TL;DR: The dissertation presented in this article proposes Semantic 3D Object Models as a novel representation of the robot’s operating environment that satisfies these requirements and shows how these models can be automatically acquired from dense 3D range data.
Book ChapterDOI
Quick Shift and Kernel Methods for Mode Seeking
Andrea Vedaldi,Stefano Soatto +1 more
TL;DR: It is shown that the complexity of the recently introduced medoid-shift algorithm in clustering N points is O(N 2), with a small constant, if the underlying distance is Euclidean, which makes medoid shift considerably faster than mean shift, contrarily to what previously believed.
Proceedings ArticleDOI
Hedged Deep Tracking
TL;DR: A novel CNN based tracking framework is proposed, which takes full advantage of features from different CNN layers and uses an adaptive Hedge method to hedge several CNN based trackers into a single stronger one.
Proceedings ArticleDOI
Extrinsic calibration of a camera and laser range finder (improves camera calibration)
Qilong Zhang,Robert Pless +1 more
TL;DR: A direct solution is given that minimizes an algebraic error from this constraint, and subsequent nonlinear refinement minimizes a re-projection error, which is the first published calibration tool for this problem.
Journal ArticleDOI
Comparing ICP variants on real-world data sets
TL;DR: A protocol that allows for a comparison between ICP variants, taking into account a broad range of inputs, and an open-source ICP library, which is fast enough to be usable in multiple real-world applications, while being modular enough to ease comparison of multiple solutions.
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