A Spatial-Temporal Approach for Moving Object Recognition with 2D LIDAR [chapter]

B. Qin, Z. J. Chong, S. H. Soh, T. Bandyopadhyay, M. H. Ang, E. Frazzoli, D. Rus
2015 Springer Tracts in Advanced Robotics  
Moving object recognition is one of the most fundamental functions for autonomous vehicles, which occupy an environment shared by other dynamic agents. We propose a spatial-temporal (ST) approach for moving object recognition using a 2D LIDAR. Our experiments show reliable performance. The contributions of this paper include: (i) the design of ST features for accumulated 2D LIDAR data; (ii) a real-time implementation for moving object recognition using the ST features.
doi:10.1007/978-3-319-23778-7_53 fatcat:3zpzjgqonfd3lf4zpwrzvye5he