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5 CONCLUSION
In this paper we have addressed the DATMO prob-
lem using a 3D laser range sensor on a vehicle. The
proposed detection pipeline consists of ground ex-
traction, downsampling of the point cloud and the
detection of dynamic parts of space, namely voxels.
The dynamic voxels detection is executed by com-
parison of two consecutive point clouds based on the
ICP algorithm with an initial transformation guess ob-
tained by odometry, after which the clustering was
performed. The tracking task used JPDA filter and
Kalman filtering. The algorithm also uses the modi-
fied track management to enable variable number of
tracked objects. Within proposed tracking approach
an adaptive process and measurement noise, that in-
herently take into account characteristics of used sen-
sor as well as track state, are modelled. The re-
sults have conformed that the presented algorithms
can successfully perform the detection and tracking
of moving objects.
ACKNOWLEDGEMENTS
This work has been supported by research project
VISTA (EuropeAid/131920/M/ACT/HR) and Euro-
pean Community’s Seventh Framework Programme
under grant agreement no. 285939 (ACROSS).
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