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Tracking vehicles using radar detections

Joakim Gunnarsson (Institutionen för signaler och system, Signalbehandling) ; Lennart Svensson (Institutionen för signaler och system, Signalbehandling) ; Lars Danielsson (Institutionen för signaler och system, Signalbehandling) ; Fredrik Bengtsson (Institutionen för signaler och system)
2007 IEEE Intelligent Vehicles Symposium, IV 2007; Istanbul; Turkey; 13 June 2007 through 15 June 2007 p. 296-302. (2007)
[Konferensbidrag, refereegranskat]

This paper is concerned with the problem of tracking vehicles using radar detections. In particular, we deal with problems where multiple detections are received from each target. According to recent studies, automotive radar sensors often receive detections from a discrete set of reflection centers. From these results, we develop a family of sensor models suitable for tracking. A significant difficulty in performing tracking using models from this family is that it involves solving a data association problem with a large number of association hypotheses. To reduce the complexity of this problem, we propose a framework where similar hypotheses are joined into groups. Following this approximation, basic data association algorithms can be implemented and initial studies using both simulated data and real measurements show a promising performance.



Denna post skapades 2010-05-12. Senast ändrad 2016-05-19.
CPL Pubid: 121531

 

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