====== Tracking ======
{{ :wiki:user:ram:resume:tracking.png?direct |Tracker results}}

From 2003 to 2006 I developed a highly successful tracker for tracking moving objects from a moving vehicle using a single-axis laser scanner.  As described in a [[http://www.ri.cmu.edu/publication_view.html?pub_id=7197 | Navlab publication]] this code formed the basis of an ongoing research program, including successful application to off-road robots with two-axis scanners. 

This implementation is based primarily on fitting a rectangle to objects (vehicles) then fusing the motion estimates from the corner features by using a measurement-noise adaptive Kalman filter.  When an apparently moving track detected, it is further refined by applying a more computationally expensive process of seeing how well the predicted trajectory matches the recent observations, and whether the motion hypothesis is significantly better than the not-moving hypothesis.  This two-step process was necessary to get usefully low levels of false motion detection for collision warning and avoidance applications.

My [[http://www.cs.cmu.edu/~ram/tracking | project page]] from that time has pointers to documents and videos of performance results.