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In this work, a solution for clustering and tracking obstacles in the area covered by a LIDAR sensor is presented. It is based on a combination of simple artificial intelligence techniques and it is conceived as an initial version of a detection and tracking system for objects of any shape that an autonomous vehicle might find in its surroundings. The proposed solution divides the problem into three consecutive phases: 1) segmentation, 2) fragmentation detection and clustering and 3) tracking. The work done has been tested with real world LIDAR scan samples taken from an instrumented vehicle.
Domínguez et al. (Tue,) studied this question.