Accession Number:

ADA505754

Title:

A Formal Experiment to Assess Pedestrian Detection and Tracking Technology for Unmanned Ground Systems

Descriptive Note:

Conference paper

Corporate Author:

ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD

Personal Author(s):

• Bodt, Barry A.

Report Date:

2008-12-01

Pagination or Media Count:

7.0

Abstract:

An important area of investigation in robotics perception and intelligent control concerns the ability to detect, track, and avoid humans operating in proximity to an unmanned ground vehicle UGV. Under the Army Research Laboratory ARL Robotics Collaborative Technology Alliance RCTA, ARL and other member organizations have developed algorithms focused on human detection and tracking, which leverage program advances in stereo vision and LADAR. A recent assessment conducted by ARL and the National Institute of Standards and Technology NIST exercised these technologies under relevant conditions. This paper highlights technology advances demonstrated in this investigation. The most significant findings are that pedestrians can be reliably detected and tracked and that with the inclusion of temporal filtering on algorithm reports, incidences of misclassification of other objects as pedestrians can be dramatically reduced.

Descriptors:

• *ALGORITHMS
• *ROBOTICS
• *TRACKING
• DETECTION
• PERCEPTION
• RELIABILITY
• ERRORS
• UNMANNED
• GROUND VEHICLES
• COLLISION AVOIDANCE
• ARMY RESEARCH
• METHODOLOGY
• OPTICAL RADAR
• PERFORMANCE(HUMAN)

Subject Categories:

• Numerical Mathematics
• Cybernetics
• Target Direction, Range and Position Finding

Distribution Statement:

APPROVED FOR PUBLIC RELEASE