Robust Outdoor Tracking by Fusion of Laser Scanner and Image Processing Data


We describe the fusion of two separate methods, used to track a moving object with an autonomous robot. Our robot is equipped amongst others with a Laser Measurement System (LMS) and a web cam. The LMS is a so called line scanner which delivers distance values only in a horizontal plane. Due to the lack of a 3-dimensional representation of the surroundings given by this, the scanner is equipped with a custom built tilt mechanism. In this approach the tilt mechanism is controlled by an estimation from a visual object tracker to ensure, that the scanner always points to the vertical middle of the desired tracking object. This method works for all kinds of tracking objects, different velocities and manifold lighting conditions without adjustments to the parameter set.

  • Abstract
  • Keywords:
  • Introduction
  • Project AMOR
  • Motivation
  • Laser Based Object Tracking
  • Vision Based Support
  • Results
  • Conclusion and Future Work
  • Acknowledgment
  • References

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