Real-time 3D-Lidar, MMW Radar and GPS/IMU fusion based vehicle detection and tracking in unstructured environment
Ning Li Caixia Lu Xuewei Yu Xueyan Liu Bo Su Ning Li Caixia Lu Xuewei Yu Xueyan Liu Bo Su
To solve the problem of unmanned ground vehicle leader-follower formation transportation in unstructured environment, we propose a novel target detection and tracking method based on multi-sensor fusion perception. Combined with 3D-Lidar, millimeter wave Radar and GPS/IMU, the proposed method can achieve stable target detection and continuous tracking of both static and dynamic vehicles. First, 3D...