The approach investigated in this work employs LADAR measurements to detect and track pedestrians over time. The algorithm can process range measurements from both line and 3D scanners. The use of line scanners allows detection and tracking at rates up to 75 Hz. However, this type of sensor may not always perform satisfactorily in uneven terrains. A 3D LADAR is used to improve operation in uneven terrains, by first estimating the local ground elevation, and then performing the detection using

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... e measurements corresponding to a certain height above the ground. The information pipeline used to feed sensor data into the algorithm is the same for both types of sensors. The perceptual capabilities described aim to form the basis for safe and robust navigation in robotic vehicles, necessary to safeguard pedestrians operating in the vicinity of a moving robotic vehicle.