Object Detection and Tracking for Autonomous Navigation in Dynamic Environments

  title={Object Detection and Tracking for Autonomous Navigation in Dynamic Environments},
  author={Andreas Ess and Konrad Schindler and Bastian Leibe and Luc Van Gool},
  journal={I. J. Robotics Res.},
We address the problem of vision-based navigation in busy inner-city locations, using a stereo rig mounted on a mobile platform. In this scenario semantic information becomes important: rather than modelling moving objects as arbitrary obstacles, they should be categorised and tracked in order to predict their future behaviour. To this end, we combine classical geometric world mapping with object category detection and tracking. Object-category specific detectors serve to find instances of the… CONTINUE READING
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