The paper presents a new lidar-based approach to object tracking. To this end, range data are recorded by two vehicle-born lidar scanners and registered in a common coordinate system. In contrary to common approaches, particle filters are employed to track the objects. This ensures no linearization of the underlying non-linear process model and, thus, a decreasing estimation error. For the object association, a new method is proposed that considers the knowledge about the object shape as well. Based on a statistical formulation, this ensures a robust object assignment even in ambiguous traffic scenes.
Non-linear, shape independent object tracking based on 2D lidar data
2009 IEEE Intelligent Vehicles Symposium ; 532-537
2009-06-01
1051216 byte
Conference paper
Electronic Resource
English
Non-Linear, Shape Independent Object Tracking based on 2D Lidar Data
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