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arXiv · 1709.08515

LADAR-Based Mover Detection from Moving Vehicles

Daniel D. Morris·Brian Colonna·Paul Haley
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Abstract

Detecting moving vehicles and people is crucial for safe operation of UGVs but is challenging in cluttered, real world environments. We propose a registration technique that enables objects to be robustly matched and tracked, and hence movers to be detected even in high clutter. Range data are acquired using a 2D scanning Ladar from a moving platform. These are automatically clustered into objects and modeled using a surface density function. A Bhattacharya similarity is optimized to register subsequent views of each object enabling good discrimination and tracking, and hence mover detection.

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Daniel D. Morris, Brian Colonna, Paul Haley. 2017-09-25. LADAR-Based Mover Detection from Moving Vehicles. https://arxiv.org/abs/1709.08515

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