Moving-object tracking using laser scanner mounted on two-wheeled vehicle based on environmental map subtraction Article Swipe
Yohei Matsui
,
Shotaro Muro
,
Masafumi Hashimoto
,
Kazuhiko Takahashi
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1299/transjsme.19-00056
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1299/transjsme.19-00056
This paper presents a tracking (estimating position, velocity and size) of moving objects, such as cars, two-wheeled vehicles, and pedestrians, using a multilayer laser scanner mounted on a two-wheeled vehicle. The vehicle obtains its own pose (position and attitude) by on-board global navigation satellite system/inertial navigation system (GNSS/INS) unit and corrects the distortion of the laser-scan data by interpolating the pose information. The corrected laser-scan data is mapped onto 3D voxel map represented in the world coordinate flame. Subsequently, the vehicle extracts the interested laser-scan data from the current laser-scan data using normal distributions transform (NDT) scan matching based map-subtraction method. The extracted scan data are mapped onto an elevation map, and moving objects are detected based on an occupancy grid method. Finally, detected moving objects are tracked based on the Bayesian Filter. Experimental results show the performance of the proposed method.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1299/transjsme.19-00056
- https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00056/_pdf
- OA Status
- gold
- References
- 6
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2966644162
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2966644162Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1299/transjsme.19-00056Digital Object Identifier
- Title
-
Moving-object tracking using laser scanner mounted on two-wheeled vehicle based on environmental map subtractionWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-01-01Full publication date if available
- Authors
-
Yohei Matsui, Shotaro Muro, Masafumi Hashimoto, Kazuhiko TakahashiList of authors in order
- Landing page
-
https://doi.org/10.1299/transjsme.19-00056Publisher landing page
- PDF URL
-
https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00056/_pdfDirect link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00056/_pdfDirect OA link when available
- Concepts
-
Computer vision, Artificial intelligence, Computer science, Laser scanning, GNSS applications, Inertial measurement unit, Tracking (education), Background subtraction, Position (finance), Laser, Pixel, Global Positioning System, Optics, Physics, Pedagogy, Psychology, Economics, Telecommunications, FinanceTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
6Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| primary_location.license | |
| primary_location.pdf_url | https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00056/_pdf |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | Transactions of the JSME (in Japanese) |
| primary_location.landing_page_url | https://doi.org/10.1299/transjsme.19-00056 |
| publication_date | 2019-01-01 |
| publication_year | 2019 |
| referenced_works | https://openalex.org/W6602924220, https://openalex.org/W2331162455, https://openalex.org/W2766917262, https://openalex.org/W2705798154, https://openalex.org/W6819689878, https://openalex.org/W2152864241 |
| referenced_works_count | 6 |
| abstract_inverted_index.a | 3, 21, 27 |
| abstract_inverted_index.3D | 69 |
| abstract_inverted_index.an | 108, 118 |
| abstract_inverted_index.as | 14 |
| abstract_inverted_index.by | 39, 57 |
| abstract_inverted_index.in | 73 |
| abstract_inverted_index.is | 66 |
| abstract_inverted_index.of | 10, 53, 138 |
| abstract_inverted_index.on | 26, 117, 129 |
| abstract_inverted_index.The | 30, 62, 101 |
| abstract_inverted_index.and | 8, 18, 37, 49, 111 |
| abstract_inverted_index.are | 105, 114, 126 |
| abstract_inverted_index.its | 33 |
| abstract_inverted_index.map | 71 |
| abstract_inverted_index.own | 34 |
| abstract_inverted_index.the | 51, 54, 59, 74, 79, 82, 87, 130, 136, 139 |
| abstract_inverted_index.This | 0 |
| abstract_inverted_index.data | 56, 65, 85, 90, 104 |
| abstract_inverted_index.from | 86 |
| abstract_inverted_index.grid | 120 |
| abstract_inverted_index.map, | 110 |
| abstract_inverted_index.onto | 68, 107 |
| abstract_inverted_index.pose | 35, 60 |
| abstract_inverted_index.scan | 96, 103 |
| abstract_inverted_index.show | 135 |
| abstract_inverted_index.such | 13 |
| abstract_inverted_index.unit | 48 |
| abstract_inverted_index.(NDT) | 95 |
| abstract_inverted_index.based | 98, 116, 128 |
| abstract_inverted_index.cars, | 15 |
| abstract_inverted_index.laser | 23 |
| abstract_inverted_index.paper | 1 |
| abstract_inverted_index.size) | 9 |
| abstract_inverted_index.using | 20, 91 |
| abstract_inverted_index.voxel | 70 |
| abstract_inverted_index.world | 75 |
| abstract_inverted_index.flame. | 77 |
| abstract_inverted_index.global | 41 |
| abstract_inverted_index.mapped | 67, 106 |
| abstract_inverted_index.moving | 11, 112, 124 |
| abstract_inverted_index.normal | 92 |
| abstract_inverted_index.system | 46 |
| abstract_inverted_index.Filter. | 132 |
| abstract_inverted_index.current | 88 |
| abstract_inverted_index.method. | 100, 121, 141 |
| abstract_inverted_index.mounted | 25 |
| abstract_inverted_index.objects | 113, 125 |
| abstract_inverted_index.obtains | 32 |
| abstract_inverted_index.results | 134 |
| abstract_inverted_index.scanner | 24 |
| abstract_inverted_index.tracked | 127 |
| abstract_inverted_index.vehicle | 31, 80 |
| abstract_inverted_index.Bayesian | 131 |
| abstract_inverted_index.Finally, | 122 |
| abstract_inverted_index.corrects | 50 |
| abstract_inverted_index.detected | 115, 123 |
| abstract_inverted_index.extracts | 81 |
| abstract_inverted_index.matching | 97 |
| abstract_inverted_index.objects, | 12 |
| abstract_inverted_index.on-board | 40 |
| abstract_inverted_index.presents | 2 |
| abstract_inverted_index.proposed | 140 |
| abstract_inverted_index.tracking | 4 |
| abstract_inverted_index.vehicle. | 29 |
| abstract_inverted_index.velocity | 7 |
| abstract_inverted_index.(position | 36 |
| abstract_inverted_index.attitude) | 38 |
| abstract_inverted_index.corrected | 63 |
| abstract_inverted_index.elevation | 109 |
| abstract_inverted_index.extracted | 102 |
| abstract_inverted_index.occupancy | 119 |
| abstract_inverted_index.position, | 6 |
| abstract_inverted_index.satellite | 43 |
| abstract_inverted_index.transform | 94 |
| abstract_inverted_index.vehicles, | 17 |
| abstract_inverted_index.(GNSS/INS) | 47 |
| abstract_inverted_index.coordinate | 76 |
| abstract_inverted_index.distortion | 52 |
| abstract_inverted_index.interested | 83 |
| abstract_inverted_index.laser-scan | 55, 64, 84, 89 |
| abstract_inverted_index.multilayer | 22 |
| abstract_inverted_index.navigation | 42, 45 |
| abstract_inverted_index.(estimating | 5 |
| abstract_inverted_index.performance | 137 |
| abstract_inverted_index.represented | 72 |
| abstract_inverted_index.two-wheeled | 16, 28 |
| abstract_inverted_index.Experimental | 133 |
| abstract_inverted_index.information. | 61 |
| abstract_inverted_index.pedestrians, | 19 |
| abstract_inverted_index.Subsequently, | 78 |
| abstract_inverted_index.distributions | 93 |
| abstract_inverted_index.interpolating | 58 |
| abstract_inverted_index.map-subtraction | 99 |
| abstract_inverted_index.system/inertial | 44 |
| cited_by_percentile_year | |
| corresponding_author_ids | https://openalex.org/A5113642708 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 4 |
| corresponding_institution_ids | https://openalex.org/I133984924 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/13 |
| sustainable_development_goals[0].score | 0.4399999976158142 |
| sustainable_development_goals[0].display_name | Climate action |
| citation_normalized_percentile.value | 0.08194073 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |