Segmentation of dynamic objects from laser data
Document typeConference report
Rights accessOpen Access
European Commisision's projectINTELLACT - Intelligent observation and execution of Actions and manipulations (EC-FP7-269959)
CEEDS - The Collective Experience of Empathic Data Systems (EC-FP7-258749)
We present a method to segment dynamic objects from high-resolution low-rate laser scans. Data points are tagged as static or dynamic based on the classification of pixel data from registered imagery. Per-pixel background classes are adapted online as Gaussian mixtures, and their matching 3D points are classified accordingly. Special attention is paid to the correct calibration and synchronization of the scanner with the the accessory camera. Results of the method are shown for a small indoor sequence with several people following arbitrarily different trajectories.
CitationOrtega, A.A.; Andrade-Cetto, J. Segmentation of dynamic objects from laser data. A: European Conference on Mobile Robots. "ECMR 5th European Conference on Mobile Robots". Örebro: 2011, p. 115-121.