Detection and tracking of moving objects in an indoor environment

Xavier, J.; Pacheco, M.; Castro, D.; Ruano, Antonio

http://hdl.handle.net/10400.1/2265

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Abstract(s)

In this work we present a method for detection and tracking of moving objects – DATMO using a laser range finder. The ability to track a moving object is one of the most desired capabilities of a robotic system, either for the purpose of surveillance, crowd control or collision avoidance just to mention a few applications. To achieve this objective we use a SICK LMS200 range finder for tracking multiple moving objects in an indoor workspace. The DATMO system is composed by four procedures: data segmentation, feature extraction, classification and tracking of objects.

Keywords

Laser range finder Kalman Filter Hough Transform Object Tracking

URI

http://hdl.handle.net/10400.1/2265

Citation

Xavier, J.; Pacheco, M.; Castro, D.; Ruano, A. E. Detection and Tracking of Moving Objects in an Indoor Environment, Trabalho apresentado em 6th Portuguese Conference on Automatic Control (Controlo 2004), In 6th Portuguese Conference on Automatic Control (Controlo 2004), Faro, 2004.

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