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Object and vehicle detection and tracking using 3-D laser rangefinder

  • US 8,260,539 B2
  • Filed: 05/12/2010
  • Issued: 09/04/2012
  • Est. Priority Date: 05/12/2010
  • Status: Active Grant
First Claim
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1. A method for detecting and tracking objects near a vehicle, said method comprising:

  • providing a plurality of scan points from a laser rangefinder, said scan points representing locations in a space surrounding the vehicle where an object has been detected by the laser rangefinder;

    using the scan points and vehicle dynamics data to establish a location of a ground plane;

    using the scan points and the location of the ground plane to construct an object occupancy map and an object elevation map; and

    using the scan points and the object occupancy map to create dynamic object data, where the dynamic object data identifies and tracks objects which are moving.

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