Shape-Based Tracking of Objects in Laser Scans

Features: Utilizes specially adapted, state-of-the-art shape matching No odometry information required Reliable & efficient Well-suited for object tracking and mapping applications Can easily be extended to handle dynamics
Principle of Operation: Shapes are extracted from laser range finder (LRF) data. In mapping/localization applications, shape extracted from a LRF can also be matched against shape extracted from a map. Similarity of shape features is determined by an optimal matching focussing on similar sections. This allows a robust detection of similarity even below the noise level of sensor data. Complete shapes of two consecutive scans are matched against each other; this yields the desired correspondence of objects.
Demonstration: View shape feature tracking in an indoor environment at the University of Bremen.