A novel approach to obtain trajectories of targets from laser scanned datasets

Abstract

Laser scanner has several bons when compared with video camera. It does not record real world videos except scanned points. As a result, processing of data becomes faster and easier. Over and above, it takes away the problem of private life conservation. This paper proposes a new and competent computer vision based approach for detecting and tracking targets (e.g., pedestrians and vehicles) from laser scanned datasets. Laser scanned data points from each scan have been deemed as a video frame. Blobs are extracted and then computer vision techniques (e.g., Kalman filter, Hungarian algorithms, and etc.) are applied to recognize and track the kind of targets. Scanned datasets, collected from two kinds of laser scanners, were used to conduct experiments. Full trajectories of pedestrians, vehicles, and noises were resulted in three dimensional spaces. Experimental results give evidence of the efficacy of our proposed framework.