This project provides an end-to-end system for the detection of cars, pedestrians and bicyclists — hazardous objects that could potentially change their motion state, hence whose detection is key to successful autonomous driving.

The video to the right shows typical system output. Each detected object is highlighted with a bounding box. Cars, pedestrians and bicyclists are coloured red, blue and green respectively.

 

  • [PDF] D. Z. Wang, I. Posner, and P. Newman, “What Could Move? Finding Cars, Pedestrians and Bicyclists in 3D Laser Data,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.
    [Bibtex]
    @inproceedings{WangICRA2012,
    Address = {Minnesota, USA},
    Author = {Dominic Zeng Wang and Ingmar Posner and Paul Newman},
    Booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ICRA_wang.pdf},
    Title = {What Could Move? Finding Cars, Pedestrians and Bicyclists in 3{D} Laser Data},
    Year = {2012}}