抄録
This paper presents a method for detecting and tracking multiple moving objects with multiple 2D laser range sensors(LRS's). The coordinate systems of multiple LRS's are calibrated based on Kalman filter and Nearest Neighboring Standard Filter(NNSF). The moving objects are tracked based on Kalman filter, Covariance Intersection(CI) and the assignment algorithm. A rule based track management system is embedded into the tracking system in order to improve the tracking performance. The experimental result in indoor environments validates the proposed method.
