[SP] Tracking of moving obstacles

[datahaki]

Motivation

In the Winterthur lab space, we operate two gokarts. One of the gokarts drives autonomously and is equipped with the laser range finder VLP-16 to perceive the environment. The second gokart is operated manually. The autonomous gokart is required to localize and track the second gokart to perform manoeuvres such as following and passing.

Objective

• development of real-time algorithm to track one or move moving obstacles
• the algorithm may make certain assumptions about the object of interest, for instance regarding size or motion
• the algorithm should reliably track another gokart and predict the motion

References

• Mismatch of pose and lidar #1020
• V. Cavinato Lidar perception for autonomous vehicles