Track-based self-supervised classification of dynamic obstacles

@article{Katz2010TrackbasedSC,
  title={Track-based self-supervised classification of dynamic obstacles},
  author={Roman Katz and Juan I. Nieto and Eduardo Mario Nebot and Bertrand Douillard},
  journal={Autonomous Robots},
  year={2010},
  volume={29},
  pages={219-233}
}
This work introduces a self-supervised architecture for robust classification of moving obstacles in urban environments. Our approach presents a hierarchical scheme that relies on the stability of a subset of features given by a sensor to perform an initial robust classification based on unsupervised techniques. The obtained results are used as labels to train a set of supervised classifiers. The outcomes obtained with the second sensor can be used for higher level tasks such as segmentation or… 
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