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In this paper, a novel method is presented to generate tex-tured CAD model of outdoor urban environment using a vehicle-borne sensor system. In data measurement, three single-row laser range scanners and six line cameras are mounted on a measurement vehicle, which has been equipped with a GPS/INS/Odometer based navigation system. Laser range and line images(More)
—In this research, we propose a novel system for tracking pedestrians in a wide and open area, such as a shopping mall and exhibition hall, using a number of single-row laser-range scanners (LD-A), which have a profiling rate of 10 Hz and a scanning angle of 270. LD-As are set directly on the floor doing horizontal scanning at an elevation of about 20 cm(More)
Laser-based people tracking systems have been developed for mobile robotic, and intelligent surveillance areas. Existing systems rely on laser point clustering method to extract object locations. However, for dense crowd tracking, laser points of different objects are often interlaced and undistinguishable due to measurement noise and they can not provide(More)
As the rapid development of sensing and mapping techniques, it becomes a well-known technology that a map of complex environment can be generated using a robot carrying sensors. However, most of the existing researches represent environments directly using the integration of point clouds or other low-level geometric primitives. It remains an open problem to(More)
In this research, we proposed a system of detecting and monitoring pedestrians' motion trajectories at a populated and wide environment, such as exhibition hall, supermarket etc., using the horizontally profiling single-row laser range scanners on a mobile platform. A simplified walking model is defined to track the rhythmic swing feet at the ground level.(More)
It became a well known technology that a map of complex environment containing low-level geometric primitives (such as laser points) can be generated using a robot with laser scanners. This research is motivated by the need of obtaining semantic knowledge of a large urban outdoor environment after the robot explores and generates a low-level sensing data(More)
Three dimension data are in great demand for the various applications such as 3D GIS, navigation, digital archive, simulation, computer games, and so on. In order to represent space in details, it is indispensable to acquire 3D shape and texture together. However, there still lacks a reliable, quick, and handy method of acquiring three dimension data at(More)
Tracking generic human motion is significantly challenging because of the high-dimensional state space as well as various motion types. In order to deal with the challenges, we propose a fusion formulation to integrate the low-and high-dimensional tracking approaches into one framework. The low-dimensional approach successfully overcomes the(More)
In this research, a novel system for monitoring an intersection using a network of single-row laser range scanners (subsequently abbreviated as "laser scanner") and video cameras is proposed. Laser scanners are set on the road side to profile an intersection horizontally from different viewpoints. The contour points of moving objects are captured at a(More)