Detecting and tracking moving objects from a mobile platform using a laser range scanner

Abstract

In the field of computer vision, the detection and tracking of moving objects from a moving observer is a complex and computationally demanding task. Using a laser range scanner instead of a camera, the problem can be simplified dramatically. An algorithm that identifies range readings in areas that was detected earlier as free is described. This is done without incorporating any gridmaps that are inherently memory and computationally consuming. The algorithm is robust from the real-time test in a furnished living room. It is able to track a moving person walking around, while consuming only about 2% of the available processing power.