1P1-L02 Moving Obstacle Detection with Lidar using Autonomous Robot(Wheeled Robot/Tracked Vehicle)

Abstract

This paper describes a moving object detection method in outdoor environments. Probabilistic grid map is introduced to mitigate the impact of occulusion. Our method applies x-means to cluster discrete data and track to several objects correctly. In order to track objects robustly and estimate state of objects, particle filter is introduced. The approach is tested in an outdoor environment using 2D laser-range-finder. The experimental result indicates that our system is able to track moving objects robustly.