Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors O.P L¿Harmattan

L¿Harmattan

Zum Verstandnis del' Prozesse sind die im I

wegen der damit verbundenen erhofften erhöhten Lebensqualität

Christian Kracht

National Honor Society

Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors O.P L¿HarmattanThis work presents a solution for autonomous vehicles to detect arbitrary moving traffic participants and to precisely determine the motion of the vehicle. The solution is based on three dimensional images captured with modern range sensors like e. g. high resolution laser scanners. As result, objects are tracked and a detailed 3D model is built for each object and for the static environment. The performance is demonstrated in challenging urban