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Unmanned vehicle dynamic obstacle detection, tracking and recognition method based on laser sensor

Unmanned vehicle dynamic obstacle detection, tracking and recognition method based on laser sensor In response to these shortcomings, this paper proposes a dynamic obstacle detection and tracking method based on multi-feature fusion and a dynamic obstacle recognition method based on spatio-temporal feature vectors.Design/methodology/approachThe existing dynamic obstacle detection and tracking methods based on geometric features have a high false detection rate. The recognition methods based on the geometric features and motion status of dynamic obstacles are greatly affected by distance and scanning angle, and cannot meet the requirements of real traffic scene applications.FindingsFirst, based on the geometric features of dynamic obstacles, the obstacles are considered The echo pulse width feature is used to improve the accuracy of obstacle detection and tracking; second, the space-time feature vector is constructed based on the time dimension and space dimension information of the obstacle, and then the support vector machine method is used to realize the recognition of dynamic obstacles to improve the obstacle The accuracy of object recognition. Finally, the accuracy and effectiveness of the proposed method are verified by real vehicle tests.Originality/valueThe paper proposes a dynamic obstacle detection and tracking method based on multi-feature fusion and a dynamic obstacle recognition method based on spatio-temporal feature vectors. The accuracy and effectiveness of the proposed method are verified by real vehicle tests. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Computing and Cybernetics Emerald Publishing

Unmanned vehicle dynamic obstacle detection, tracking and recognition method based on laser sensor

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References (30)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
1756-378X
DOI
10.1108/ijicc-10-2020-0143
Publisher site
See Article on Publisher Site

Abstract

In response to these shortcomings, this paper proposes a dynamic obstacle detection and tracking method based on multi-feature fusion and a dynamic obstacle recognition method based on spatio-temporal feature vectors.Design/methodology/approachThe existing dynamic obstacle detection and tracking methods based on geometric features have a high false detection rate. The recognition methods based on the geometric features and motion status of dynamic obstacles are greatly affected by distance and scanning angle, and cannot meet the requirements of real traffic scene applications.FindingsFirst, based on the geometric features of dynamic obstacles, the obstacles are considered The echo pulse width feature is used to improve the accuracy of obstacle detection and tracking; second, the space-time feature vector is constructed based on the time dimension and space dimension information of the obstacle, and then the support vector machine method is used to realize the recognition of dynamic obstacles to improve the obstacle The accuracy of object recognition. Finally, the accuracy and effectiveness of the proposed method are verified by real vehicle tests.Originality/valueThe paper proposes a dynamic obstacle detection and tracking method based on multi-feature fusion and a dynamic obstacle recognition method based on spatio-temporal feature vectors. The accuracy and effectiveness of the proposed method are verified by real vehicle tests.

Journal

International Journal of Intelligent Computing and Cybernetics – Emerald Publishing

Published: Apr 23, 2021

Keywords: Dynamic obstacle detection; Tracking and recognition; Echo pulse width; Spatio-temporal feature vector; Support vector machine

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