Inter-Rays uncertainty and Fixed Size assumption for objects tracking using a Laser Scanner

Abstract

AbstractThis paper presents a geometric representation based method for objects tracking using laser sensory data. The representation model, based on an Oriented Bounding Box (OBB), is achieved by using a two-stage procedure. The first one concurs a LRF data based convex hull technique of object's contour extraction. The second stage consists of contour analysis by a geometric method, called Rotating Calipers. In order to obtain good estimation for the geometric parameters of the object, two concepts are proposed. The first one, called Inter-Rays uncertainty, is introduced to consider the fact that the raw data points representing the extremities of the extracted OBB do not coincide with the real object's extremities. The second concept, called Fixed Size assumption, is integrated to take into account that the size of the object dos not change during the tracking process. The tracking is ensured by the Extended Kalman Filter with Discrete White Noise Acceleration model. Experimental results are presented to show the robustness of the proposed method.