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학술대회 RoadPlot-DATMO: Moving Object Tracking and Track Fusion System Using Multiple Sensors
Cited 12 time in scopus Download 8 time Share share facebook twitter linkedin kakaostory
저자
나기인, 변재민, 노명찬, 서범수
발행일
201510
출처
International Conference on Connected Vehicles and Expo (ICCVE) 2015, pp.142-143
DOI
https://dx.doi.org/10.1109/ICCVE.2015.52
협약과제
15MC2800, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
초록
This paper introduces the RoadPlot-DATMO, tracking objects around the vehicle using multiple sensors such as radars, 2D LiDARs, and a 3D LiDAR. It consists of the xytracker, the xyztracker, and the fusion; the xytracker tracks moving objects with multiple 2D LiDARs, the xyztracker perceives object information in detail using a 3D LiDAR, and the fusion merges tracks from multiple trackers. It is able to detect and to track moving objects around the vehicle correctly and continuously without blind area in realtime. Also, this was tested with driverless overtaking on a highway using the autonomous vehicle, the CoPilot of the ETRI.
KSP 제안 키워드
3D LIDAR, Autonomous vehicle, Blind area, Tracking object, fusion system, moving object tracking, multiple sensors, track fusion