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Object tracking using linear features

  • US 8,705,792 B2
  • Filed: 08/06/2008
  • Issued: 04/22/2014
  • Est. Priority Date: 08/06/2008
  • Status: Active Grant
First Claim
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1. A method of tracking static and dynamic objects within an environment, the method comprising:

  • acquiring point sensor data in three dimensions related to the environment, the point sensor data including present point sensor data and previous point sensor data;

    identifying present linear features within the present point sensor data;

    tracking previous linear features from a previous set of tracked linear features to the present linear features to determine a position of each present linear feature relative to a previous position; and

    creating a set of tracked linear features, the set of tracked linear features being used to track static and dynamic objects within the environment,the set of tracked linear features including;

    present linear features tracked from previous linear features;

    present linear features not tracked from previous linear features; and

    untracked previous linear features not tracked to present linear features,the untracked previous linear features being in the previous set of tracked linear features but not identified in the present point sensor data,each linear feature within the set of tracked linear features having a feature probability,feature probabilities of the untracked previous linear features being reduced relative to corresponding previous feature probabilities in the previous set of tracked linear features.

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