Accession Number:

ADA504090

Title:

Ladar-Based Vehicle Detection and Tracking in Cluttered Environments

Descriptive Note:

Conference paper

Corporate Author:

GENERAL DYNAMICS ROBOTIC SYSTEMS PITTSBURGH PA

Report Date:

2008-12-01

Pagination or Media Count:

8.0

Abstract:

Detecting and tracking vehicles is crucial for safe operation of Unmanned Ground Vehicles UGVs, but is challenging in cluttered, real-world environments. Here we present a method for discriminating vehicles from clutter found in natural terrain such as foliage, steep slopes, rock-outcrops, etc. Our method relies on a scanning LADAR and combines an obstacle detector and tracker, a vehicle modeling scheme, and a Support Vector-based discriminator. The output of our real-time system is a list of labeled obstacles and vehicles along with their positions, sizes and velocity estimates. This is used by a planner to enable autonomous navigation in the presence of other vehicles and significant clutter. We provide a quantitative analysis of the performance of our algorithm.

Subject Categories:

  • Cybernetics
  • Optical Detection and Detectors
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE