Automotive Engineering Commons^™

Object Detection, Classification, And Tracking For Autonomous Vehicle, Milan Aryal

Masters Theses

The detection and tracking of objects around an autonomous vehicle is essential to operate safely. This paper presents an algorithm to detect, classify, and track objects. All objects are classified as moving or stationary as well as by type (e.g. vehicle, pedestrian, or other). The proposed approach uses state of the art deep-learning network YOLO (You Only Look Once) combined with data from a laser scanner to detect and classify the objects and estimate the position of objects around the car. The Oriented FAST and Rotated BRIEF (ORB) feature descriptor is used to match the same object from one image …