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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Proceedings ArticleDOI
An automatic calibration between an omni-directional camera and a laser rangefinder for dynamic scenes reconstruction
TL;DR: A novel approach for updating 3D color map with a Guassian mixture model is proposed and shows its approach can reconstruct static map and remove almost dynamic obstacles.
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