Multi-target detection and tracking with a laser scanner

In this paper we present a method of detection and tracking of moving objects (DATMO) using a laser range finder (LRF). The DATMO system is able to classify several kinds of objects and can be easily expanded to detect new ones. It is composed by three modules: scan segmentation; object classification using a suitable voting scheme of several object properties; and object tracking using a Kalman filter that takes the object type to increase the tracking performance into account. The goal is to design a collision avoidance algorithm to integrate a Cybercar vehicle, which uses the computed time-to-collision for each moving obstacle validated by the DATMO system.