ICRA'09 Paper Abstract


Paper FrC3.1

Zhao, Huijing (Peking University), Zhang, Quanshi (Peking Univ.), Chiba, Masaki (Mazda Motor Corporation), Shibasaki, Ryosuke (University of Tokyo), Cui, Jinshi (Peking University), Zha, Hongbin (Peking University)

Moving Object Classification Using Horizontal Laser Scan Data

Scheduled for presentation during the Regular Sessions "Range Sensing - I" (FrC3), Friday, May 15, 2009, 13:30−13:50, Room: 401

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Range Sensing, Recognition, Intelligent Transportation Systems


Motivated by two potential applications, i.e. enhancing driving safety and traffic data collection, a system is being developed using a single-layer horizontal laser scanner as the major sensor for both localization and perception of the surroundings in a large dynamic urban environment. This research focus on a classification method, that given a stream of laser measurements, classify the moving object into either a person, a group of people, a bicycle or a car. In this research, a number of features are defines after examining the property of data appearance. A classification method is proposed after examining the likelihood measures between each pair of feature and class. Experimental results are presented, demonstrating that the algorithm has efficiency with respect to both driving safety and traffic data collection in highly dynamic environment.



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