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Frank Moosmann

Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors

(Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ; 24)

AutorMoosmann, Frank

VerlagKIT Scientific Publishing, Karlsruhe

ISBN9783866449770

UmfangXVIII, 128 S.

Veröffentlicht
am:
02.04.2013

Erscheinungs-
jahr
2013

VerfügbarkeitAktiv

Downloads:

Für Zitate bitte die folgende URL verwenden:
http://dx.doi.org/10.5445/KSP/1000032359

Abstract

This work presents a solution for autonomous vehicles to detect arbitrary moving traffic participants and to precisely determine the motion of the vehicle. The solution is based on three-dimensional images captured with modern range sensors like e.g. high-resolution laser scanners. As result, objects are tracked and a detailed 3D model is built for each object and for the static environment. The performance is demonstrated in challenging urban environments that contain many different objects.