Model-Based Detection and Tracking of Single Moving Object Using Laser Range Finder

Autonomous vehicles navigation in urban area suppose to deal with static and dynamic objects. To ensure safe autonomous navigation, the detection accuracy of a moving object is very critical to avoid false alarm while tracking the direction of moving object for collision avoidance. This paper presents the experimental results of the proposed Detection and Tracking Moving Object (DATMO) algorithm for a single moving object. Experiments were conducted in outdoor environment using a vehicle equipped with a laser range finder to provide the input data to the DATMO algorithm while the Kalman filter with the integration of constant velocity (CV) model was used for tracking. The results from the experiments showed that the DATMO algorithm developed successfully tracks a single moving object in an outdoor environment.