Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.
Adaptive vehicle motion estimation and prediction
Mobile Robots XIII and Intelligent Transportation Systems ; 1998 ; Boston,MA,USA
Proc. SPIE ; 3525
08.01.1999
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Adaptive vehicle motion estimation and prediction [3525-14]
British Library Conference Proceedings | 1998
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