TRACKING-SYSTEMS FOR INTELLIGENT ROAD VEHICLES

The paper describes two mono-target tracking systems based on the cont rol of a mixed camera/3D sensor. The 3D sensor is a laser range finder . Both systems are presented in an intelligent road vehicle context, f or the purpose of obstacle detection. The first is applicable to the p edestrian tracking when the vehicle does not move. The data are obtain ed by a 3D segmentation process. The second tracking is used for mobil e vehicle tracking. In this application, the experimental vehicle is m oving, and this tracking is multisensorial, which means that it makes the most of the complementarity of both 3D and intensity data. In that case, two kinds of data are used: the distance of the obstacle obtain ed by a visual servoing, and the obstacle location in the intensity im age given by art image processing. This tracking also involves space a nd temporal data alignments, which are necessary steps before any data fusion. The data combination is done by an extended Kalman filter.