Citation

Navarro-Serment LE, Mertz C, Hebert M. Int. J. Rob. Res. 2010; 29(12): 1516-1528.

Copyright

(Copyright © 2010, SAGE Publishing)

DOI

10.1177/0278364910370216

PMID

unavailable

Abstract

The approach investigated in this work employs three-dimensional LADAR measurements to detect and track pedestrians over time. The sensor is em- ployed on a moving vehicle. The algorithm quickly detects the objects which have the potential of being humans using a subset of these points, and then classifles each object using statistical pattern recognition techniques. The al- gorithm uses geometric and motion features to recognize human signatures. The perceptual capabilities described form the basis for safe and robust nav- igation in autonomous vehicles, necessary to safeguard pedestrians operating in the vicinity of a moving robotic vehicle.