
Proceedings Paper
A final evaluation of pedestrian detection and tracking from a moving platformFormat | Member Price | Non-Member Price |
---|---|---|
$17.00 | $21.00 |
Paper Abstract
This work represents the fifth in a series of studies on safe operations of unmanned ground vehicles in the proximity of
pedestrians. The U.S. Army Research Laboratory (ARL), the National Institute of Standards and Technology (NIST),
and the Robotics Collaborative Technology Alliance (RCTA) conducted the study on the campus of NIST in
Gaithersburg, MD in 2009, the final year of the RCTA.
The experiment was to assess the performance of six RCTA algorithms to detect and track moving pedestrians from
sensors mounted on a moving platform. Sensors include 2-D and 3-D LADAR, 2-D SICK, and stereovision. Algorithms
reported only detected human tracks. NIST ground truth methodology was used to assess the algorithm-reported
detections as to true positive, misclassification, or false positive as well as distance to first detection and elapsed tracking
time. A NIST-developed viewer facilitated real-time data checking and subsequent analysis. Factors of the study include
platform speed, pedestrian speed, and clutter density in the environment. Pedestrian motion was choreographed to ensure
similar perspective from the platform regardless of experimental conditions. Pedestrians were upright in the principal
study, but excursions examined group movement, nonlinear paths, occluded paths, and alternative postures.
We will present the findings of this study and benchmark detection and tracking for subsequent robotic research in this
program. We also address the impact of this work on pedestrian avoidance.
Paper Details
Date Published: 7 May 2010
PDF: 12 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920H (7 May 2010); doi: 10.1117/12.850490
Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
PDF: 12 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920H (7 May 2010); doi: 10.1117/12.850490
Show Author Affiliations
Barry A. Bodt, U.S. Army Research Lab. (United States)
Richard Camden, MPRI, a division of L3 Services Group (United States)
Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)
© SPIE. Terms of Use
