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based localization and local mapping with moving object detection and tracking. HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.(More)
We present a method of simultaneous detection and tracking moving objects from a moving vehicle equipped with a single layer laser scanner. A model-based approach is introduced to interpret the laser measurement sequence by hypotheses of moving object trajectories over a sliding window of time. Knowledge of various aspects including object model,(More)
Using multiple sensors in the context of environment perception for autonomous vehicles is quite common these days. Perceived data from these sensors can be fused at different levels like: before object detection, after object detection and finally after tracking the moving objects. In this paper we detail our object detection level fusion between laser and(More)
In this paper, we present a vehicle safety application based on data gathered by a laser scanner and two short-range radars that recognize unavoidable collisions with stationary objects before they take place to trigger restraint systems. Two different software modules that perform the processing of raw data and deliver a description of the vehicle's(More)
In this paper, we present a real-time algorithm for online simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with laser sensor and odometry. To correct vehicle location from odometry we introduce a new fast implementation of incremental scan(More)
In this paper, we describe our approach for intersection safety developed in the scope of the European project INTERSAFE-2. A complete solution for the safety problem including the tasks of perception and risk assessment using on-board lidar and stereo-vision sensors will be presented and interesting results are shown.
In this paper, we detail the hardware and software perception system designed and developed to track pedestrians using a set of offboard cameras. It has been used in the context of vulnerable safety in a car park. This architecture is divided in two parts: a fusion part to fusion the data given by the set of offboard cameras and a tracking part to(More)
The paper addresses the problem of object perception for intelligent vehicle applications with main tasks of detection, tracking and classification of obstacles where multiple sensors (i.e.: lidar, camera and radar) are used. New algorithms for raw sensor data processing and sensor data fusion are introduced making the most information from all sensors in(More)
In this paper, we detail a complete software architecture of a key task that an intelligent vehicle has to deal with: frontal object perception. This task is solved by processing raw data of a radar and a mono-camera to detect and track moving objects. Data sets obtained from highways, country roads and urban areas were used to test the proposed method.(More)