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Motivated by two potential applications, i.e. enhancing driving safety and traffic data collection, a system has been 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 focuses 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 ofdoi:10.1109/robot.2009.5152347 dblp:conf/icra/ZhaoZCSCZ09 fatcat:drdpwmfjmfga5kkn72fserwr7m