3º Step

Multi target tracking (mtt) by Jorge Almeida

This algorithm consists in a global object tracker from 2D planar scans, primarily from laser scanners.

It's very good because it brings a lot of good advantages to my ideas, if one object/pedestrian is tracked, it's tagged a number and maintains it until the LASER cannot see the object any more. Using this method the pedestrian detection algorithm only needs to verify that object/pedestrian one time since the LASER started to see it, because if the object is a pedestrian, it can be "excluded" from the image, because we already know it's a pedestrian.

method:

Laser scan with mtt contribution