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Static map reconstruction and dynamic object tracking for a camera and laser scanner system

Static map reconstruction and dynamic object tracking for a camera and laser scanner system

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© The Institution of Engineering and Technology
Received 06/07/2017, Accepted 13/11/2017, Revised 29/09/2017, Published 27/11/2017

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.

Inspec keywords: image reconstruction; SLAM (robots); object detection; object tracking; robot vision

Other keywords: tracking-by-detection; simultaneous localisation and mapping and navigation capability; dynamic object tracking; 3D motion models; vision-based mobile robot; static map reconstruction

Subjects: Computer vision and image processing techniques; Optical, image and video signal processing; Mobile robots

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