Random Set Based Road Mapping using Radar Measurements
2010 (English)In: Proceedings of the 18th European Signal Processing Conference, 2010, 219-223 p.Conference paper (Refereed)
This work is concerned with the problem of multi-sensor multi-target 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.
Place, publisher, year, edition, pages
2010. 219-223 p.
Radar measurements, Active safety systems, Gaussian mixture
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-62849OAI: oai:DiVA.org:liu-62849DiVA: diva2:374832
18th European Signal Processing Conference, Aalborg, Denmark, 23-27 August, 2010