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RoadPlot-DATMO: Moving Object Tracking and Track Fusion System Using Multiple Sensors
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- Authors
- Kiin Na, Jaemin Byun, Myongchan Roh, Beomsu Seo
- Issue Date
- 2015-10
- Citation
- International Conference on Connected Vehicles and Expo (ICCVE) 2015, pp.142-143
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- 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 Keywords
- 3D Lidar, Autonomous vehicle, Blind area, Fusion system, Tracking objects, moving object tracking, multiple sensors, track fusion