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Random Set Based Road mapping using Radar Measurements

C. Lundquist ; Lars Danielsson (Institutionen för signaler och system, Signalbehandling) ; F. Gustafsson
Proceedings of the European Signal Processing Conference (2010)
[Konferensbidrag, refereegranskat]

This work is concerned with the problem of multi-sensor multitarget tracking of stationary road side objects, i.e. guard rails and parked vehicles, in the context of automotive active safety systems. Advanced active safety applications, such as collision avoidance by steering, rely on obtaining a detailed map of the surrounding infrastructure to accurately assess the situation. Here, this map consists of the position of objects, represented by a random finite set (RFS) of multi-target states and we propose to describe the map as the spatial stationary object intensity. This intensity is the first order moment of a multi-target RFS representing the position of stationary objects and it is calculated using a Gaussian mixture probability hypothesis density (GM-PHD) filter.



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Denna post skapades 2011-12-22. Senast ändrad 2014-11-27.
CPL Pubid: 150870

 

Institutioner (Chalmers)

Institutionen för signaler och system, Signalbehandling

Ämnesområden

Transport
Signalbehandling

Chalmers infrastruktur