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Conference Paper
코파일럿 시스템을 위한 다중 2D LiDAR 융합기반 차량 주변 동적 장애물 추적 모듈 개발
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- Issue Date
- 2014-05
- Citation
- 한국자동차공학회 부문 종합 학술 대회 2014, pp.770-774
- Publisher
- 한국자동차공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper introduces the development of moving obstacles perception module using multiple 2D LiDARs. This can estimate both position and velocity of dynamic objects around vehicles. Projecting point cloud data from 2D LiDARs to range image structure, they are partitioned to particular observations with connectivity based region growing segmentation. In sequence, observations from segmentation steps are associated with the predicted tracks employing NNSF based on Kalman filter. Furthermore, the associated tracks are continuously updated, extraneous observations are generated to new tracks and missing tracks are removed. This developed module was installed on Co-Pilot system and the experiments tracking several moving obstacles at the same time were performed to show this module working.
- KSP Keywords
- 2D LiDAR, Image Structure, Kalman filter, Moving obstacles, Point Cloud Data, Range Image, dynamic object, pilot system, region growing segmentation