Tracking Multiple Moving Targets using a Camera and Laser Rangefinder

Boyoon Jung and Gaurav S. Sukhatme

We propose a target tracking system based on a camera and a laser rangefinder. Two trackers have been developed: a laser-based tracker and a vision-based tracker. They detect moving or bright-colored targets, and report the positions of the targets in a coordinate systems rigidly attached to the sensors. Both trackers have been implemented and tested with stationary sensors embedded in an office environment and mobile robots.