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Dynamic Objects Detection and Tracking
Keywords 3D Sensor, Point Cloud, Obstacle Detection, Obstacle Tracking, Obstacle Avoidance.  +
Level Master  +
OneLineSummary Dynamic Objects Detection and Tracking in Warehouses, Using 3D Sensors.  +
Prerequisites Familiarity with filtering techniques (eg. EKF) for mobile robots localization, Image analysis, programming skills (preferably C++ or Python).  +
References Petrovskaya, Anna, and Sebastian Thrun. "MPetrovskaya, Anna, and Sebastian Thrun. "Model based vehicle detection and tracking for autonomous urban driving." Autonomous Robots 26.2-3 (2009): 123-139. Wojke, N.; Haselich, M., "Moving vehicle detection and tracking in unstructured environments," Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.3082,3087, 14-18 May 2012. Moras, J.; Cherfaoui, V.; Bonnifait, P., "A lidar perception scheme for intelligent vehicle navigation," Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on , vol., no., pp.1809,1814, 7-10 Dec. 2010 Golovinskiy, Aleksey, Vladimir G. Kim, and Thomas Funkhouser. "Shape-based recognition of 3D point clouds in urban environments." Computer Vision, 2009 IEEE 12th International Conference on. IEEE, 2009. Granstrom, K.; Lundquist, C.; Gustafsson, F.; Orguner, U., "Random Set Methods: Estimation of Multiple Extended Objects," Robotics & Automation Magazine, IEEE , vol.21, no.2, pp.73,82, June 2014 Data Association and Tracking a survey RoboEarth. Rusu, Radu Bogdan, and Steve Cousins. "3d is here: Point cloud library (pcl)." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011. Brostow, Gabriel J., et al. "Segmentation and recognition using structure from motion point clouds." Computer Vision–ECCV 2008. Springer Berlin Heidelberg, 2008. 44-57. Drost, Bertram, et al. "Model globally, match locally: Efficient and robust 3D object recognition." Computer Vision and Pattern Recognition (CVPR), 2010 IEEE Conference on. IEEE, 2010. Biasotti, S. ; Falcidieno, B. ; Giorgi, D. ; Spagnuolo, M. “Mathematical Tools for Shape Analysis and Description”, 2014, Publisher :Morgan & Claypool, Edition:1, ISBN:1627053646 Börcs, Attila, et al. "A Model-based Approach for Fast Vehicle Detection in Continuously Streamed Urban LIDAR Point Clouds." (2014).treamed Urban LIDAR Point Clouds." (2014).
StudentProjectStatus Open  +
Supervisors Björn Åstrand + , Naveed Muhammad +
TimeFrame October 2017 to June 2018, with possible extension to September 2018  +
Title Dynamic Objects Detection and Tracking  +
Categories StudentProject  +
Modification dateThis property is a special property in this wiki. 22 September 2017 14:22:48  +
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