Robotics: Science and Systems IV

Model Based Vehicle Tracking for Autonomous Driving in Urban Environments

Anna Petrovskaya, Sebastian Thrun

Abstract: Situational awareness is crucial for autonomous driving in urban environments. This paper describes moving vehicle detection and tracking module we developed for our successful entry in the Urban Grand Challenge, an autonomous driving race organized by the U.S. Government in 2007. The module provides reliable tracking of moving vehicles from a high-speed moving platform using laser range finders. Our approach models both dynamic and geometric properties of the tracked vehicles and estimates them using a single Bayes filter.

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Bibtex:

@INPROCEEDINGS{Petrovskaya-RSS08,
    AUTHOR    = {Anna Petrovskaya, Sebastian Thrun},
    TITLE     = {Model Based Vehicle Tracking for Autonomous Driving in Urban Environments},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems IV},
    YEAR      = {2008},
    ADDRESS   = {Zurich, Switzerland},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2008.IV.023} 
}