Physical Sciences and Mathematics Commons^™

Ladar-Based Detection And Tracking Of Moving Objects From A Ground Vehicle At High Speeds, Chieh-Chih Wang, Charles Thorpe, Arne Suppe

Research Collection School Of Computing and Information Systems

Detection and tracking of moving objects (DATMO) in crowded urban areas from a ground vehicle at high speeds is difficult because of a wide variety of targets and uncertain pose estimation from odometry and GPS/DGPS. In this paper we present a solution of the simultaneous localization and mapping (SLAM) with DATMO problem to accomplish this task using ladar sensors and odometry. With a precise pose estimate and a surrounding map from SLAM, moving objects are detected without a priori knowledge of the targets. The interacting multiple model (IMM) estimation algorithm is used for modeling the motion of a moving object …