LADAR-Based Mover Detection from Moving Vehicles

09/25/2017

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by   Daniel D. Morris, et al.

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Detecting moving vehicles and people is crucial for safe operation of UGVs but is challenging in cluttered, real world environments. We propose a registration technique that enables objects to be robustly matched and tracked, and hence movers to be detected even in high clutter. Range data are acquired using a 2D scanning Ladar from a moving platform. These are automatically clustered into objects and modeled using a surface density function. A Bhattacharya similarity is optimized to register subsequent views of each object enabling good discrimination and tracking, and hence mover detection.