
Proceedings Paper
Detecting and tracking moving humans from a moving vehicleFormat | Member Price | Non-Member Price |
---|---|---|
$17.00 | $21.00 |
Paper Abstract
In September 2007 the Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance (CTA)
conducted an assessment of multiple pedestrian detection algorithms based upon LADAR or video sensor data. Eight
detection algorithms developed by the Robotics CTA member organizations, including ARL, were assessed in an
experiment conducted by the National Institute of Science & Technology (NIST) and ARL to determine the probability
of detection/misclassification and false alarm rate as a function of vehicle speed, degree of environmental clutter, and
pedestrian speeds. The study is part of an ongoing investigation of safe operations for unmanned ground vehicles.
This assessment marked the first time in this program that human movers acted as targets for detection from a moving
vehicle. A focus of the study was to choreograph repeatable human movement scenarios relative to the movement of the
vehicle. The resulting data is intended to support comparative analysis across treatment conditions and to allow
developers to examine performance with respect to specific detection and tracking events. Events include humans
advancing and retreating from the vehicle at different angles, humans crossing paths in close proximity and occlusion
situations where sight to the mover from the sensor system is momentarily lost. A detailed operational procedure ensured
repeatable human movement with independent ground truth supplied by a NIST ultra wideband wireless tracking
system. Post processing and statistical analysis reconciled the tracking algorithm results with the NIST ground truth. We
will discuss operational considerations and results.
Paper Details
Date Published: 16 April 2008
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 696207 (16 April 2008); doi: 10.1117/12.781864
Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 696207 (16 April 2008); doi: 10.1117/12.781864
Show Author Affiliations
Barry A. Bodt, Army Research Lab. (United States)
Richard Camden, L3 Services Group (United States)
Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
© SPIE. Terms of Use
