International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
18 Robust Outdoor Tracking by Fusion of Laser Scanner and Image Processing Data
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We describe the fusion of two separate methods, used to track a moving object with an autonomous robot. Our robot is equipped amongst others with a Laser Measurement System (LMS) and a web cam. The LMS is a so called line scanner which delivers distance values only in a horizontal plane. Due to the lack of a 3-dimensional representation of the surroundings given by this, the scanner is equipped with a custom built tilt mechanism. In this approach the tilt mechanism is controlled by an estimation from a visual object tracker to ensure, that the scanner always points to the...