Moving Object Classification using Horizontal Laser Scan Data
- Zhao, Huijing
- Zhang, Quanshi
- Chiba, Masaki
- Shibasaki, Ryosuke
- Cui, Jinshi
- Zha, Hongbin
DOIAbstract
Motivated by two potential applications, i.e. enhancing driving safety and traffic data collection, a system has been developed using a single-layer horizontal laser scanner as the major sensor for both localization and perception of the surroundings in a large dynamic urban environment. This research focuses on a classification method, that given a stream of laser measurements, classify the moving object into either a person, a group of people, a bicycle or a car. In this research, a number of features are defined after examining the property of data appearance. A classification method is proposed after examining the likelihood measures between each pair of feature and class. Experimental results are presented, demonstrating that the algor...
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