Static map reconstruction and dynamic object tracking for a camera and laser scanner system
The vision‐based mobile robot's simultaneous localisation and mapping and navigation capability in dynamic environments are highly problematic elements of robot vision applications. The goal of this study is to reconstruct a static map and track the dynamic object for a camera and laser scanner...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-06-01
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| Series: | IET Computer Vision |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/iet-cvi.2017.0308 |
| _version_ | 1797684843076648960 |
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| author | Cheng Zou Bingwei He Liwei Zhang Jianwei Zhang |
| author_facet | Cheng Zou Bingwei He Liwei Zhang Jianwei Zhang |
| author_sort | Cheng Zou |
| collection | DOAJ |
| description | The vision‐based mobile robot's simultaneous localisation and mapping and navigation capability in dynamic environments are highly problematic elements of robot vision applications. The goal of this study is to reconstruct a static map and track the dynamic object for a camera and laser scanner system. An improved automatic calibration is designed to merge image and laser point clouds. Then, the fusion data is exploited to detect the slowly moved object and reconstruct static map. Tracking‐by‐detection requires the correct assignment of noisy detection results to object trajectories. In the proposed method, occluded regions are combined 3D motion models with object appearance to manage difficulties in crowded scenes. The proposed method was validated by experimental results gathered in a real environment and on publicly available data. |
| first_indexed | 2024-03-12T00:36:39Z |
| format | Article |
| id | doaj.art-e571365758444769b7de8e9db0258c69 |
| institution | Directory Open Access Journal |
| issn | 1751-9632 1751-9640 |
| language | English |
| last_indexed | 2024-03-12T00:36:39Z |
| publishDate | 2018-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Computer Vision |
| spelling | doaj.art-e571365758444769b7de8e9db0258c692023-09-15T09:36:27ZengWileyIET Computer Vision1751-96321751-96402018-06-0112438439210.1049/iet-cvi.2017.0308Static map reconstruction and dynamic object tracking for a camera and laser scanner systemCheng Zou0Bingwei He1Liwei Zhang2Jianwei Zhang3School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouPeople's Republic of ChinaSchool of Mechanical Engineering and AutomationFuzhou UniversityFuzhouPeople's Republic of ChinaSchool of Mechanical Engineering and AutomationFuzhou UniversityFuzhouPeople's Republic of ChinaTAMS, Department of InformaticsUniversity of HamburgHamburgGermanyThe vision‐based mobile robot's simultaneous localisation and mapping and navigation capability in dynamic environments are highly problematic elements of robot vision applications. The goal of this study is to reconstruct a static map and track the dynamic object for a camera and laser scanner system. An improved automatic calibration is designed to merge image and laser point clouds. Then, the fusion data is exploited to detect the slowly moved object and reconstruct static map. Tracking‐by‐detection requires the correct assignment of noisy detection results to object trajectories. In the proposed method, occluded regions are combined 3D motion models with object appearance to manage difficulties in crowded scenes. The proposed method was validated by experimental results gathered in a real environment and on publicly available data.https://doi.org/10.1049/iet-cvi.2017.0308static map reconstructiondynamic object trackingvision-based mobile robotsimultaneous localisation and mapping and navigation capabilitytracking-by-detection3D motion models |
| spellingShingle | Cheng Zou Bingwei He Liwei Zhang Jianwei Zhang Static map reconstruction and dynamic object tracking for a camera and laser scanner system IET Computer Vision static map reconstruction dynamic object tracking vision-based mobile robot simultaneous localisation and mapping and navigation capability tracking-by-detection 3D motion models |
| title | Static map reconstruction and dynamic object tracking for a camera and laser scanner system |
| title_full | Static map reconstruction and dynamic object tracking for a camera and laser scanner system |
| title_fullStr | Static map reconstruction and dynamic object tracking for a camera and laser scanner system |
| title_full_unstemmed | Static map reconstruction and dynamic object tracking for a camera and laser scanner system |
| title_short | Static map reconstruction and dynamic object tracking for a camera and laser scanner system |
| title_sort | static map reconstruction and dynamic object tracking for a camera and laser scanner system |
| topic | static map reconstruction dynamic object tracking vision-based mobile robot simultaneous localisation and mapping and navigation capability tracking-by-detection 3D motion models |
| url | https://doi.org/10.1049/iet-cvi.2017.0308 |
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