角度ベース複数仮説を用いたLRFによる複数種類·複数個の移動体追跡手法

抄録

This paper describes a method for tracking of moving objects in multiple categories with a LRF (laser range finder). The proposed method can track multiple moving objects robustly using a framework based on SJPDAF (sample-based joint probabilistic data association filter). It can continue tracking correctly if moving objects get close to other moving objects, and can track moving objects in different categories at the same time. We implemented the proposed method and obtained experimental results demonstrating its effectiveness.