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This paper presents a method for moving-object tracking with in-vehicle 2D-laser range sensors (LRS). Since a sensing area of the LRS is limited in orientation, mobile robot is equipped with multi-LRS's for omnidirectional sensing. In order for moving-object tracking by multi-LRS's cooperation, the coordinate frames of the multi-LRS's are calibrated based on Kalman filter and chi-hypothesis testing...
This paper presents a method for people tracking with in-vehicle 2D laser range sensor (LRS). Since a view angle of the LRS is limited in orientation, mobile robot is equipped with multi-LRS's for omnidirectional sensing. In order for people tracking by multi-LRS's cooperation, the coordinate frames of multi-LRS's are calibrated based on Kalman filter and chi-hypothesis testing. People tracking is...
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